二自由度球面运动并联机构位置及速度分析  

Analysis of position and velocity for a 2-DOF spherical motion parallel mechanism

作　　者：张进[1] 李占贤[1] 郭娟[1] 王伟钊[1] 

机构地区：[1]河北理工大学机械工程学院,河北唐山063009

出　　处：《机械》2007年第11期58-60,共3页Machinery

摘　　要：设计了一种二自由度球面运动并联机构,具有三个支链,其中两个为主动支链,一个为被动支链,机构结构为非对称形式。对机构进行了位置和速度分析,为机构的控制提供了理论基础。机构已成功用于汽车变速器试验台自动换档机械手,拓宽了少自由度并联机构的应用领域。The 2-DOF spherical motion parallel mechanism has three kinematic chains, and two of them are drivable, another is passive. The mechanism is unsymmetrical. Analysis of position and velocity for it has been processed, which offers theory foundation for its being controlled. The mechanism has already successfully been applied on test-bed of automotive transmission, which develops the application of few-DOF parallel mechanism.

关 键 词：并联机构 位置分析 速度分析 

分 类 号：TH122[机械工程—机械设计及理论]