欠秩3-UPU并联角台机构工作空间分析  

Workspace analysis of deficient-rank 3-UPU parallel truncated pyramid mechanism

作　　者：李仕华[1] 黄真[1] 左荣国[1] 

机构地区：[1]燕山大学机械学院,河北秦皇岛066004

出　　处：《机械设计》2004年第8期35-38,共4页Journal of Machine Design

基　　金：国家自然科学基金资助项目 (50 0 750 74)

摘　　要：针对欠秩 3 -UPU并联角台机构的结构特点 ,首先找出了该机构的几何约束 ,在此基础上建立了该机构移动副两端虎克铰平行或垂直布置时的位置反解方程。然后利用该机构的几何约束条件 ,进一步建立了该机构在两种情况下的工作空间的求解方程 。Directed against the structural characteristics of deficient-rank 3-UPU parallel-truncated pyramid mechanism, firstly the geometric constraint of this mechanism was found out. Taking this as a base, the positional reverse solution equation was established for the universal joint, when being parallel or perpendicular arranged, on the two ends of this mechanism's moving pairs. After that, by the use of geometric constraint conditions of this mechanism, the solution equations have further been established for the workspace of this mechanism under two kinds of conditions, thus laid a certain foundation for the application of this mechanism.

关 键 词：空间并联机构 工作空间 运动分析 并联机器人 三自由度 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]