机械科学与技术2012，Vol.31Issue(7)：1042-1045,4.
一种新型三自由度并联机构的运动学分析
Kinematic Analysis of a Novel Three DOF Parallel Mechanism
摘要
Abstract
A new three degrees of freedoms completely deeoupled parallel mechanism is presented, whose moving platform has a one-dimensional translation and two-dimensional rotations. Firstly the degrees of freedom are calcu- lated and the active joints are chosen. Then the position equation of the mechanism is presented and its direct and inverse analytical solutions are derived. Ditect and inverse Jacobian matrix and the velocity are obtained through the first derivative for the position equations. By using influence coefficient method, the second-order influence coeffi- cient and the acceleration are derived. In addition, as the global Jacobian matrix is lower tion of the mechanism is tion example is given for completely decoupled, which the kinematics curve by using triangular matrix, the mo- simplify dynamic analysis and control. At last, an applica- Matlab.关键词
并联机构/运动学分析/完全解藕Key words
parallel mechanism/kinematic analysis/completely decoupled分类
机械制造引用本文复制引用
范彩霞,刘宏昭..一种新型三自由度并联机构的运动学分析[J].机械科学与技术,2012,31(7):1042-1045,4.基金项目
国家自然科学基金项目（50575180,50905055）,陕西省重点学科建设专项基金,西安理工大学优秀博士学位论文研究基金项目（102-210911）和陕西省教育厅项目（2010JK701）资助 （）
