3R机构的速度和油缸流量解析  

Analysis of Rate of 3R Mechanism and Flow of Cylinder

作　　者：刘公信[1] 

机构地区：[1]宝鸡职业技术学院,陕西宝鸡721004

出　　处：《煤矿机械》2008年第4期17-19,共3页Coal Mine Machinery

摘　　要：现代矿山机器人广泛应用空间3R机构。通过列出空间3R机构各位置轴的运动方程并求出逆解,用解析法求得3R空间机构末端位置轴的速度和油缸流量,为矿山机器人的动力设计和结构设计打下理论基础。The space 3R mechanism is in common use in modern mine robots.The motion equation of the space 3R mechanism in the different position axle was listed and the inverse solution was extracted,then the rate and the cylinder flow at the 3R space mechanismend of the position axle were extracted with the analytic method so as to lay a theory founction for the power design and mechanism design of mine robots.

关 键 词：3R机构 运动方程 速度 流量 解析 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置] TH122[自动化与计算机技术—控制科学与工程]