万能直角坐标串并联机构静力学分析  

Statics Analysis of Universal Cartesian Serial-parallel Manipulator

作　　者：罗建国[1] 陆震[1] 

机构地区：[1]北京航空航天大学,北京100083

出　　处：《机械设计与研究》2006年第2期36-39,共4页Machine Design And Research

基　　金：国家自然科学基金资助项目(50375007)

摘　　要：基于串联、并联机构理论提出的全新结构的万能直角串并联机构,已知机构在给定空间位置和姿态下的输出端力螺旋,利用多刚体力螺旋理论来反向求解输入各铰点处的力螺旋,从而得到机构静力学分析的反向解,并通过实例编程计算得到机构对应的数据图,并且具有相当的可直观性。A new type of universal Cartesian serial - parallel manipulator based on the traditional serial and parallel manipulators is presented. As the position and orientation of the whole mechanism and the output shaft force screw are known, and then the theory of wrench of multi - rigid body is adopted to find the inverse solution of force screw of each input jointed point. A practical example is calculated with computer program in order to get the data graph of mechanism, and the results of inverse solution of statics analysis are obtained sensitively.

关 键 词：串并联 刚体 力螺旋 反解 编程 

分 类 号：TP214[自动化与计算机技术—检测技术与自动化装置]