新型二自由度空间并联机构位姿研究  

Research on Pose of Novel Type 2-DOF Space Parallel Mechanism

作　　者：许爱芬[1] 温秉权[1] 张晓丽[1] 

机构地区：[1]军事交通学院军事物流系

出　　处：《军事交通学院学报》2013年第5期88-92,共5页Journal of Military Transportation University

基　　金：国家高技术研究发展计划(2012AA112101);天津市应用基础与前沿技术研究计划(12JCZDJC34600)

摘　　要：研究了空间二自由度（degreeoffreedom，DOF）4R对称并联机构的位姿，该机构具有自由度最少、工作空间大等特点。应用几何分析法建立了该机构正逆解的数学模型。基于ADMAS环境，对该机构进行了建模仿真。仿真结果验证了理论分析的正确性，以及该机构构型的正确性和可行性。The pose of 2DOF 4R symmetrical parallel mechanism was studied. The mechanism has characteristics of the least DOF and the largest working space. The mathematic models of the positive and inverse solutions were built by geomet rical analysis method. Based on ADMAS, modeling and simulation of the mechanism were conducted, and the prototype was constructed. Simulation results and prototype testing confirm that the theory analysis is correct and the configuration of the mechanism is also correct and feasible.

关 键 词：二自由度 并联机构 位姿 几何分析法 

分 类 号：TP203[自动化与计算机技术—检测技术与自动化装置]