欢迎您！东篱公司
退出
-
申报数据库
-
立项数据库
-
成果数据库
-
项目获奖数据库
中文摘要：
提出了一种新型三维移动并联机构，该机构由3条正交运动链3-CRP将动平台和定平台连接而成。利用螺旋理论对机构的自由度进行了分析和计算，研究了分别以圆柱副中的转动和线性移动作为主动输入的机构的运动学正逆解、奇异性和各向同性。当以转动输入为主驱动时，运动雅可比矩阵为3×3阶对角阵，故机构为无耦合并联机构；当以移动为主驱动时，雅可比矩阵为3×3阶单位阵，且其行列式的值为1，所以在整个工作空间内机构表现为无奇异完全各向同性。因此该机构具有良好的运动和力传递性能以及较强的实用价值。
英文摘要：
A novel three- dimensional translational parallel mechanism, which consisted of a moving platform connecting with a fixed base by 3-CRP orthogonal limbs,was presented. The degree of freedom of the mechanism was analyzed and computed based on screw theory. The direct and the inverse solutions, singularities and isotropy of the mechanism were investigated respectively in terms of different actuated inputs,i, e. , rotary actuation or linear actuation method. When the actuated joint was rotary actuation, kinematic Jacobian matrix of the manipulator was a diagonal matrix. So it was an uncoupled mechanism. As the actuated joint was linear one,Jacobian matrix of the manipulator was an identity 3 × 3 matrix and its determinant was equal to one. Manipulator, therefore, was singularityfree fully-isotropic throughout the entire workspace. Thus the mechanism performs very well with regard to motion and force transmission and has higher practical values.
同期刊论文项目
同项目期刊论文
A new method for the determination of the zero velocity region of the Karnopp model based on the sta
期刊信息
位置：