【摘要】 提出了一种新型6-DOF串并混联拟人机械臂,这种机械臂主要包括肩、上臂和前臂三部分,其中,肩采用球面三自由度并联机构为机构原型,上臂采用五杆二自由度并联机构为机构原型,前臂采用四杆机构为机构原型,结合这种机械臂的结构布局特点,求得其位置正解的封闭解,使用Bezout消元法求得这种拟人机械臂的位置反解的封闭解。更多还原

【Abstract】 A novel 6-DOF hybrid anthropopathic mechanical arm,comprised of shoulder,upper arm and forearm,was investigated,and the spherical 3-DOF parallel manipulator was adopted as the hybrid mechanical arms’ shoulder,and 2-DOF parallel manipulator,five-bar linkage mechanism was adopted as the hybrid mechanical arms’ upper arm,and four-bar linkage mechanism was adopted as the hybrid mechanical arms’ forearm.Then 6-DOF hybrid anthropopathic mechanical arm’s direct and inverse displacement equations were developed in detail explicitly considering its architecture feature.更多还原