首页|期刊导航|高技术通讯（英文版）|A comparison study of two Tricept units for reconfigurable parallel kinematic machines
高技术通讯（英文版）2005，Vol.11Issue(4)：392-396,5.
A comparison study of two Tricept units for reconfigurable parallel kinematic machines
A comparison study of two Tricept units for reconfigurable parallel kinematic machines
摘要
Abstract
This paper presents a comparison study of workspace and dexterity of two Tricept units for Reconfigurable Parallel Kinematic Machines (RPKMs). The modular leg of RPKMs is designed and the RPKMs can be built by changing the setting of modules. A compositive kinematic model is developed accordingly. The inverse kinematics and Jacobian of these two Tricept units are analyzed. Considering workspace volume and dexterity, the effects of geometric size of some modules on the two Tricept units are discussed. In the end, comparison results of these two Tricept units are given. The comparison of two kinds of Parallel Kinematic Machines (PKMs) can be of help in the design and configuration planning of the RPKMs.关键词
RPKMs/comparison study/dexterity/workspaceKey words
RPKMs/comparison study/dexterity/workspace分类
信息技术与安全科学引用本文复制引用
Shi Junshan,Tang Xiaoqiang,Lin Chunshen,Wang Liping..A comparison study of two Tricept units for reconfigurable parallel kinematic machines[J].高技术通讯（英文版）,2005,11(4):392-396,5.基金项目
Supported by the High Technology Research and Development Programme of China (No.2002AA421180,2001AA423260). （No.2002AA421180,2001AA423260）
