机械科学与技术2011，Vol.30Issue(8)：1272-1275,4.
一种新型2T2R并联机构及其运动学分析
A Novel Parallel Mechanism of 2T2R and Its Kinematics Analysis
摘要
Abstract
Based on the parallel mechanism of 4-UPU and by means of adding a PPS-limp, a novel spatial parallel mechanism of 4-UPU/PPS is built where the UPU-limp is regarded as the driver and the PPS-limp is the driven. The degree of freedom （DOF） of this mechanism is caculated by revised Kutzbach-Grubler formula. Each limp is analyzed, and the result demonstrates that this mechanism possessse two-translational DOFs and two-rotational DOFs. Given the input, one of the positional and orientational parameters as the initial value is used to caculate the position variation with time for the motion platform by Runge-Kutta-Felhberg algorithm, and then the result of posi- tion variation with time is used to calculate the speed and acceleration by the method of first order difference and second order difference. The result of kinematics analysis is in agreement with actual conditions.关键词
并联机构/4自由度/运动学分析Key words
parallel mechanism/4 degrees of freedom/kinematics analysis分类
信息技术与安全科学引用本文复制引用
季晔,刘宏昭,原大宁,范彩霞,强力..一种新型2T2R并联机构及其运动学分析[J].机械科学与技术,2011,30(8):1272-1275,4.基金项目
陕西省重点学科建设专项基金项且和陕西高校省级重点实验室科研项目（2010JS080）资助 （）
