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一种二自由度球形五杆并联机构的运动学分析
Kinematics Analysis of a Kind of 2-DOF Five-Bar Spherical Parallel Mechanism
【摘要】 应用螺旋理论分析一种二自由度球形五杆并联机构的运动螺旋及其反螺旋,在此基础上分析了其自由度。建立其位置正、反解方程,并进行验证。应用螺旋理论建立了其一阶影响系数矩阵。
【Abstract】 Based on the screw theory, the kinematics characteristics of a kind of 2 - DOF five - bar spherical parallel mechanism are analyzed including the kinematics screw, reverse screw, degree of freedom, the forward and inverse solution equations and the first order influence coefficient matrix.
【关键词】 并联机构;
运动螺旋;
位置分析;
影响系数;
【Key words】 parallel mechanism; kinematics screw; analysis of position; influence coefficient;
【Key words】 parallel mechanism; kinematics screw; analysis of position; influence coefficient;
- 【文献出处】 华北航天工业学院学报 ,Journal of North China Institute of Astronautic Engineer , 编辑部邮箱 ,2004年04期
- 【分类号】TH112
- 【被引频次】4
- 【下载频次】184