节点文献

基于运动特征的并联机器人构型正解

Forward solution on the configuration of parallel robot based on kinetic features

推荐 CAJ下载
PDF下载
不支持迅雷等下载工具，请取消加速工具后下载。

【Author】 GONG Jin-liang~1,ZHANG Yan-fei~2,GAO Feng~3(1.School of Mechanical Engineering,Yanshan University,Qinhuangdao 066004,China;2.School of Mechanical Engineering,Shandong University of Science and Engineering,Zibo 255049,China;3.State Key Laboratory of Vibration Impact and Noise,Shanghai Jiaotong University,Shanghai 200240,China)

【机构】燕山大学机械工程学院；山东理工大学机械工程学院；上海交通大学振动冲击噪声国家重点实验室河北秦皇岛066004；山东淄博255049；上海200240；

【摘要】采用运动特征的概念,完整表示了机器人构型中的运动特征信息从基座到末端执行器的传递过程。提出了移动单元、转动单元和螺旋单元等概念,给出部分运算法则及其遵循的运算原则,定义并求解了并联机器人构型正解问题,最后通过实例验证了上述方法的简便性和有效性。更多还原

【Abstract】 By adopting the concept of kinetic characteristics,this paper expressed completely the information transmission process of kinetic features from pedestal to end executor in the configuration of robot.Conception of mobile unite,rotation unite and spiral unite etc.were put forward,and partial operative law and the operation principle it flowed were presented.Problems of forward solution for configuration of parallel robot were defined and resolved,finally by means of a living example verified the handiness and effectiveness of the above stated method.更多还原

【关键词】机器人；构型；运动特征；运动单元；
【Key words】 robot； configuration； kinematical feature； kinetic unit；

【基金】国家杰出青年基金资助项目(50125516);国家自然科学基金重点资助项目(60534020);振动、冲击、噪声国家重点实验室资助项目(VSN-2005-07)

【文献出处】机械设计 ,Journal of Machine Design , 编辑部邮箱 ,2006年10期

【分类号】TP242
【下载频次】136

知网节下载

节点文献中：

本文链接的文献网络图示:

本文的引文网络

节点文献