燕山大学学报2011，Vol.35Issue(3)：203-207,227,6.DOI:10.3969/j.issn.1007-791X.2011.02.003
一种新型3-UPS并联机构及其工作空间分析
Workspace analysis of a novel 3-UPS parallel mechanism
摘要
Abstract
A novel 3-UPS 6-DOF parallel mechanism with three branches is designed and its inverse kinematics is built. By giving the main constraint, the boundary and the section of constant orientation workspace are described using 3D polar boundary search method. The effects of parameters on the workspace volume are analyzed for the parameter selection. This mechanism has a large workspace and good at continuity. It is suitable for legs of robot.关键词
3-UPS并联机构/机构约束；工作空间；机构参数/工作空间体积Key words
3-UPS parallel mechanism/ constraint/ workspace/ structural parameter/ workspace volume分类
信息技术与安全科学引用本文复制引用
金振林,何小静..一种新型3-UPS并联机构及其工作空间分析[J].燕山大学学报,2011,35(3):203-207,227,6.基金项目
机械系统与振动国家重点实验室开放课题资助项目(MSV-2010-24) （MSV-2010-24）
