一种新型变几何桁架机器人机构的运动分析  

Kinematic Analysis of a Novel Variable Geometry Truss Robot

作　　者：房海蓉[1] 姚进[2] 胡准庆[1] 

机构地区：[1]北方交通大学机电工程学院,北京100044 [2]四川大学制造工程学院,成都610065

出　　处：《机械科学与技术》2002年第5期780-782,共3页Mechanical Science and Technology for Aerospace Engineering

摘　　要：对由三个四面体和一个八面体并联组成的新型变几何桁架机器人机构 ,进行了结构分析和位置分析 ,并利用导出法推导出机器人手部的速度显式解析解。结果表明 ,这种机构在机器人运动学分析中具有计算简单、计算精度高的特点 。Structure and position analysis is carried out for a novel type of variable geometry truss robot manipulator mechanism which is constructed in parallel by three tetrahedrons and an octahedron. The closed form solutions for the velocity and acceleration of the robot manipulator are obtained by using analytical method. The results show that this novel mechanism has the characteristics of simple calculation and high accuracy in its kinematic analysis, therefore, it can satisfy the requirements of real time control of the manipulator mechanism.

关 键 词：变几何桁架机器人 机构 运动分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH113[自动化与计算机技术—控制科学与工程]