一种四自由度并联机构及其运动学建模  

A 4-dof parallel mechanism and its kinematic modling

作　　者：陈文家[1] 陈书宏[1] 张波[1] 赵明扬[1] 

机构地区：[1]中国科学院沈阳自动化研究所,辽宁沈阳110015

出　　处：《机械设计》2001年第10期6-8,共3页Journal of Machine Design

基　　金：国家"九五"攻关课题资助项目 (96 -A2 2 - 0 1 - 0 3) ;中国科学机器人学开放研究实验室资助项目 (RL1 9981 1 )

摘　　要：提出一种新型四自由度并联平台机构 ,该机构的动平台能够实现两个方向的移动 ,以及绕两个方向轴线的转动。研究了该机构的运动学建模方法 ,给出了运动学正、逆解。A novel kind of 4 DOF parallel platform mechanism has been put forward in this paper.The moving platform of this mechanism could achieve a movement in two diretions and a rotation around two directional axes.The kinematic modeling method of this mechanism has been studied,and the kinematic positive and inverse solutions have been presented.Its applicational prospect has been expounded.

关 键 词：关联机构 四自由度 运动学 建模 

分 类 号：TH112[机械工程—机械设计及理论] TH113