两平移一转动并联机构的分析  

Analysis on a kind of 2T-1R parallel manipulator

作　　者：陈风明[1] 朱和军 

机构地区：[1]镇江高等专科学校,镇江212013 [2]镇江高等职业技术学校,镇江212016

出　　处：《现代制造工程》2011年第6期13-15,20,共4页Modern Manufacturing Engineering

基　　金：国家自然科学基金资助项目(50375067);高等学校博士点专项科研基金资助项目(20050299002)

摘　　要：提出一种新型两平移一转动三自由度空间并联机器人机构,对此机构的运动输出特性进行分析,并对自由度进行计算,建立了并联机器人机构的位置正、反解方程。运用ADAMS软件仿真该机构的运动。该机构是一种较理想的能实现两平移一转动并联机构的选型。A new type of 3 degrees of freedom parallel robot manipulator for realizing three translations is put forward. It＇s kinetic properties and degrees of freedom were calculated. The forward and inverse position equations of 2T-1R parallel manipulator were established. At the same time, the use of ADAMS simulation software simulate the body＇s movement, it is a kind of more ideal mechanism that can carry out motion in three dimensions.

关 键 词：并联机构 自由度 运动学 仿真 

分 类 号：TH112[机械工程—机械设计及理论]