欠秩三自由度并联平台机构工作空间中的单纯性运动路径  

SIMPLE MOTION TRAJECTORY IN WORKSPACE OF DEFICIENCY RANK THREE DOF PARALLEL MANIPULATOR

作　　者：黄真[1] 赵铁石[1] 王晶[1] 

机构地区：[1]燕山大学机器人中心

出　　处：《机器人》1999年第3期228-233,共6页Robot

基　　金：国家863项目;高校博士点基金

摘　　要：本文先定义了欠秩机构；接着研究了欠秩机构的瞬时转轴和连续转轴，并重点讨论了该机构移动的直线路径、纯转动的圆弧路径和纯滚动运动的各种渐开线路径．给出了其工作空间中单纯性运动路径的图谱。Definition of deficiency rank mechanism is given at first in this paper. The instantaneously rotational axis and continuously rotational axes are analyzed. The translational route, and the pure rotational circular route,and the several involute routes of the moving platform are discussed. Some atlases of simple motion routes in workspace are set up, which will be helpful in robot trajectory planning.

关 键 词：并联机器人 工作空间 路径规划 螺旋理论 机构学 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]