[1]沈惠平,马正华,金?? 琼,等.一种新型解耦二腿三维平移并联机构及其运动分析[J].常州大学学报(自然科学版),2003,(03):44-47.
　SHEN Hui- ping,MA Zheng- hua,JIN Qiong,et al.A N ov el Decoupled 2- Lim b 3- T ranslat ion Parallel Mechanism and its K inem at ic Analy sis[J].Journal of Changzhou University(Natural Science Edition),2003,(03):44-47.
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一种新型解耦二腿三维平移并联机构及其运动分析()
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常州大学学报(自然科学版)[ISSN:2095-0411/CN:32-1822/N]

卷:
期数:
2003年03期
页码:
44-47
栏目:
出版日期:
2003-09-25

文章信息/Info

Title:
A N ov el Decoupled 2- Lim b 3- T ranslat ion Parallel Mechanism and its K inem at ic Analy sis
作者:
沈惠平1;  马正华2 ;  金?? 琼3;  杨廷力4
1.江苏工业学院机械工程系, 江苏 常州 213016; 2.江苏工业学院; 3.东南大学; 4.中国石化金陵石油化工有限责任公司
Author(s):
SHEN Hui- ping1;  MA Zheng- hua2;  JIN Qiong3;  YANG Ting- li4
1. Department of Mechnical Eng ineering , Jiangsu Polytechnic U niversity, Changzhou 213016, China; 2. Jiangsu Polytechnic University; 3. Southeast U niversity; 4. China Pet rochemical Jinling Petrochemical Corporation
关键词:
并联机构;  并联机器人;  运动分析;  型综合;  单开链
Keywords:
parallel mechanisms;  parallel robot ics;  kinemat ic analysis;  type synthesis;  single- opened - chain
分类号:
TH 112; TP 242
文献标志码:
A
摘要:
基于以单开链为单元的并联机器人机构组成原理, 设计了一种动平台能实现空间三维纯移动的二腿并联机器人机构, 对 其进行了机构运动确定性分析、运动输出特性分析; 还给出了其位置分析的正、逆解析解及速度解析解, 讨论了该机构的输入 - 输出运动解耦性。
Abstract:
A novel decoupled 2- limb parallel robot mechanism with 3- dimension translation was synthesized and invest igated according to the st ructural theory of parallel mechanisms based on the units of the singleopened- chain limb. First , the structural characteristics analysis for the parallel mechanism including mobility analysis and mot ion output analysis was addressed; then the closed- formed analyt ic solutions w ere developed for both the forward and inverse position as well as the velocity , moreover, input- output motion relationship was also discussed. The analysis work provided a solid foundation for kinematics, dynamics, mechanical structural design and potent ial industrial application of the novel parallel robot mechanism.

参考文献/References:

[1] Gosselin C, Angeles J. T he Opt imum Kinemat ic Design of a Planar Three - Degree - of - Freedom Parallel Manipulat or [J] . ASME Journal of M echanisms, Transm issions, and Aut omation in Design , 1988, 110 ( 1) : 35- 41.
[2] Tsai L W, Sameer Joshi. Kin emat ics and Optimizat ion of a S patial 3- UPU Parall el Manipulator [J] . ASM E Journal of Mechanical Design, 2000, 122 ( 2) : 439- 446.
[3] 杨廷力, 金琼, 刘安心, 等?? 基于单开链单元的三平移并联机 器人机构型综合及其分类[J] ?? 机械工程学报, 2002, 38 ( 8) : 31- 36??
[4] 沈惠平, 杨廷力, 金琼, 等?? 用于虚拟轴机床、虚轴并联坐标 测量机及并联机器人的三维平移并联机构[P] ?? 中国专利: ZL 01108297?? 6, 2003- 09- 17??
[5] 杨廷力, 金琼, 刘安心, 等?? 基于单开链单元的三平移并联机 器人机构型综合及分类[J] ?? 江苏石油化工学院学报, 2000, 12 ( 4) : 35- 38??
[6] 杨廷力?? 机械系统基本理论?? 结构学、运动学、动力学[M] ?? 北京: 机械工业出版社, 1996??
[7] 金琼?? 过约束机构与欠秩并联机器人机构研究[D] ?? 南京: 东南大学, 2001?? A

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备注/Memo

备注/Memo:
基金项目: 江苏省自然科学基金( 青年创新人才) 项目( BK2001413) ; 国家自然科学基金项目( 50275070) 作者简介: 沈惠平( 1965- ) , 男, 江苏吴江人, 教授, 主要从事机构学、机械设计及设计方法学的研究。
更新日期/Last Update: 2003-09-25