摘要
分析了一种新型 3{ R∥ R∥ C}型三平移并联机器人机构的动力学特性 ,并在 ADAMS上建立仿真运动模型 ,获得了有关运动学及动力学特性曲线 。
The construction and characteristics of a 3DOF translational parallel robot mechanisms were introduced and a 3 {R∥R∥C} dynamic equation was obtained based on its kinematic analysis and D' Alembert principle. The kinematic and dynamic simulation of this mechanism was performed by the dynamic analysis software, ADAMS. As results, its property diagrams of kinematics and dynamics were obtained, which provided a theoretical base for application of these robots in the fields of agricultural machinery and food processing.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2002年第2期80-83,共4页
Transactions of the Chinese Society for Agricultural Machinery
基金
国家自然科学基金资助项目 (项目编号 :5 9870 84)
