新型三维移动3-RRUR并联平台机构及其位置分析  

New typed 3D transformational 3-RRUR parallel platform mechanism and its positional analysis

作　　者：李仕华[1] 黄真[1] 

机构地区：[1]燕山大学机械工程学院,河北秦皇岛066004

出　　处：《机械设计》2005年第8期39-42,共4页Journal of Machine Design

基　　金：国家自然科学基金资助项目(50075074)

摘　　要：为了丰富并联少自由度机器人的机型,提出了一种能实现空间三维移动的并联机器人机构模型,该模型由3个RRUR分支构成。采用螺旋理论分析了它能实现三维移动的机构学原理,计算了它的自由度,给出了其位置反解方程及其表达式,并进行了数值验证,绘制了工作空间的形状。On account of enriching the models of parallel robots with less DOF, a kind of mechanism model of parallel robot that could achieve the spatial 3D translation was put forward. This model was composed of three RRUR branches. By adopting the Spiral theory, the mechanisms principle of this robot, which could realize the 3D translation, was analyzed, its degree of freedom was calculated, its positional reverse solving equation was presented, the verification of numerical value was carried out and the shape of working space was plotted.

关 键 词：机器人 并联机构 位置分析 

分 类 号：TH13[机械工程—机械制造及自动化] TP241.3[自动化与计算机技术—检测技术与自动化装置]