新型三转动并联机构的动力学分析  

Kinematics analysis of the 3-DOF rotation parallel mechanism

作　　者：李蕊[1] 代小林[1] 姜洪州[1] 李洪人[1] 

机构地区：[1]哈尔滨工业大学机电学院,哈尔滨150001

出　　处：《现代制造工程》2010年第1期115-118,共4页Modern Manufacturing Engineering

摘　　要：提出一种基于Stewart机构的新型三转动并联机构,该机构有三个驱动缸和三个拉杆,能实现三自由度的转动。建立该机构的运动学方程,推导其运动学反解的封闭解和运动学正解的数值解,然后建立系统的动力学方程,最后对其动力学特性进行仿真分析。该新型并联机构在运动模拟领域具有广阔的应用前景。A new 3-DOF rotatable parallel mechanism formed form Stewart platform which has three cylinders and tree actuators is presented. The kinematics formulation of the robot is build and the kinematics analysis is investigated based on analytic solution of the inverse kinematics and numeric solution of the forward kinematics. This mechanism has great future in engineering.

关 键 词：三转动并联机构 运动学方程 运动学分析 

分 类 号：TH112.1[机械工程—机械设计及理论]