农业机械学报2009，Vol.40Issue(11)：208-211,218,5.
3自由度空间并联机器入机构设计与分析
Design and Analysis of a 3-DOF Spatial Parallel Robotic Mechanism
摘要
Abstract
A novel spatial parallel robotic mechanism with three degrees of freedom (DOF) was proposed, whose moving platform of the mechanism had two-translational and one-rotational DOF. Based on the screw theory, kinematics output property and mobility of the manipulator were analyzed, respectively, and analytical solutions of position and velocity for both direct and inverse kinematics were derived. Furthermore, the singularity and the dexterity were discussed. Since the Jacobian matrix, mapping the input velocity vector space into the output, is an identical matrix, the present mechanism is a free-singularity fully-isotropic one, which has good performances in motion and force transmission and potential applicable future.关键词
并联机器人机构/运动学分析/奇异性/灵巧性/螺旋理论Key words
Parallel robotic manipulator/ Kinematics analysis/ Singularity/ Dexterity/ Screwtheory分类
机械制造引用本文复制引用
原大宁,张彦斌,刘宏昭..3自由度空间并联机器入机构设计与分析[J].农业机械学报,2009,40(11):208-211,218,5.基金项目
国家自然科学基金资助项目(50575180) （50575180）
