农业机械学报2011，Vol.42Issue(12)：215-219,5.
3-UrSR6自由度并联机构位置分析
Position Analysis of 3 -UrSR Parallel Mechanism with 6 -DOF
摘要
Abstract
A parallel mechanism named 3 - UrSR was proposed. It used 2 - DOF spherical five-bar mechanism as the compound drive device. The mechanism freedoms were calculated, and the mechanism inverse solution was analyzed. The equations of forward solutions to positions were established. At last, the results of forward solutions was numerical verified by inverse solutions, and the simulation example and figure of mechanism positional posture numerical were given.关键词
并联机构/6自由度/位置正反解/空间分析Key words
Parallel mechanism/ 6 - DOF/ Position forward and inverse solutions/ Workspace analysis分类
机械制造引用本文复制引用
虞启凯,游有鹏,韩江义..3-UrSR6自由度并联机构位置分析[J].农业机械学报,2011,42(12):215-219,5.基金项目
国家自然科学基金资助项目(50975144) （50975144）
