轴线不交于一点的关节解耦分析  

Decoupling Analysis on Joints Axes Intersected not at One Point

作　　者：姚宏[1] 邱望标[1] 陈平辉[1] 

机构地区：[1]贵州大学机械工程学院,贵阳550025

出　　处：《贵州科学》2015年第1期39-41,共3页Guizhou Science

摘　　要：通过对串联关节的运动耦合分析研究,对现有的关节解耦理论进行了一些修正,即不要求所有关节旋转轴线交于一点,关节解耦与否和关节旋转轴线是否交于一点没有必然联系,论文通过数学推导和计算机运动仿真证明了这一点,此修正为解耦关节的设计提供了新的依据。The motion coupling of series joint was analyzed. The current principle of universal decoupling theory was modified. There is no need to require all joints＇ rotation axes intersect at one point. There is no link between joints decoupling and whether the axes interact at one point. Mathematical derivation and computer simulation prove the modified theory. These provide the new basis for the design of decoupled joints.

关 键 词：关节耦合分析 关节解耦原理 关节轴线不交于一点 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]