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一种四自由度并联机构及其运动学建模
A 4-dof parallel mechanism and its kinematic modling
【摘要】 提出一种新型四自由度并联平台机构 ,该机构的动平台能够实现两个方向的移动 ,以及绕两个方向轴线的转动。研究了该机构的运动学建模方法 ,给出了运动学正、逆解。阐述其应用前景
【Abstract】 A novel kind of 4 DOF parallel platform mechanism has been put forward in this paper.The moving platform of this mechanism could achieve a movement in two diretions and a rotation around two directional axes.The kinematic modeling method of this mechanism has been studied,and the kinematic positive and inverse solutions have been presented.Its applicational prospect has been expounded.
【基金】 国家“九五”攻关课题资助项目 (96 -A2 2 - 0 1 - 0 3) ;中国科学机器人学开放研究实验室资助项目 (RL1 9981 1 )
- 【文献出处】 机械设计 ,Machine Design , 编辑部邮箱 ,2001年10期
- 【分类号】TH112
- 【被引频次】11
- 【下载频次】260