一种三自由度模型姿态调整机构的正反解分析  

Kinematics Analysis of a Three-DOF Attitude Adjustment Mechanism

作　　者：董培涛[1] 吴学忠[1] 程忠宇[1] 

机构地区：[1]国防科技大学机电工程与自动化学院,湖南长沙410073

出　　处：《国防科技大学学报》2004年第2期84-88,共5页Journal of National University of Defense Technology

基　　金：国家自然科学基金-香港青年学者合作研究基金资助项目(50029501)

摘　　要：提出了一种三自由度模型姿态调整机构。采用回转矩阵方法分析了模型姿态与输入角度的关系,给出了机构的正解,结果表明模型姿态的三个自由度之间存在耦合关系,且表现出非线性。利用机构的运动特点,采用几何方法给出了反解,避免了数值解法的缺陷。A three degree-of-freedom attitude adjustment mechanism is proposed. Direct kinematics was studied and the results indicate that the relationship between the angles the supporting system rotates and the attitude (α,β,γ)of the model is nonlinear and coupled. Based on the specific structure of the supporting system, geometric method was adopted to obtain the inverse solution.

关 键 词：姿态调整机构 模型支撑系统 运动学分析 

分 类 号：TH112[机械工程—机械设计及理论]