新型3-CRC并联机构结构及运动解耦分析  

Structure and kinematics decoupled analysis of an original 3-CRC parallel mechanism

作　　者：邹忠月[1] 陈海真[1] 宋宏鹏[1] 

机构地区：[1]山东理工大学机械工程学院,山东淄博255049

出　　处：《山东理工大学学报（自然科学版）》2009年第1期29-32,共4页Journal of Shandong University of Technology:Natural Science Edition

基　　金：山东省自然科学基金资助项目(Y2006G17Y2006F59)

摘　　要：提出了一种能实现空间三维平动的3-CRC并联机构;应用机器人机构拓扑结构学理论对该机构的结构及运动输出进行了分析,并计算了机构的自由度;根据机构特点,运用解析几何中的坐标变换和投影理论求得了该机构位置正、反解的显式表达式;由正解结论分析机构的输入输出解耦性并利用ADAMS软件对该机构的运动及解耦性进行了仿真验证.An original 3-CRC parallel mechanism that can carry out three-dimensional translations was proposed.The structure and kinematics output of the mechanism were analyzed,and the degree of freedom was calculated by applying of topology structure design of robot mechanisms.According to the characteristics of the mechanism,its positional forward and inverse modals were set up by using the transformation of coordinates and projection in analytic geometry.The decoupling of the input and output were analyzed based o...

关 键 词：并联机构 位置正反解 解耦仿真 

分 类 号：TH112[机械工程—机械设计及理论]