机械科学与技术2012，Vol.31Issue(8)：1253-1256,4.
一种新型2T2R并联机构的运动学分析
Kinematic Analysis of a Novel 2T2R Parallel Mechanism
摘要
Abstract
A novel spatial parallel mechanism with two translations and two rotations （2T2R） is analysized, which is composed of two adjacent RPU limps and two adjacent SPS limps. Firstly based on Lie group theory, the degrees- of-freedom （DOFs） of the mechanism is calculated and the input paires is ehoosen. And then the analytical solution of position, velocity and acceleration for the mechanism are deduced exhaustivlly . Finally, a numeric example is given ： a kinematic curve analysis is carried out by using Matlab, the virtual prototype model of the meahcnism is eonstrueted and kinematic simulation is eonducted by using Adams, kinematics simulation results is quite coincident with theoretical analysis. This work lay the foundation for the analysis of dynamics and control of the two translations and two rotations parallel mechanism, The present result provided theoretical basis for the analysis of dynamics and control, the design and practicality of the mechanism.关键词
并联机构/李群理论/运动学分析Key words
parallel mechanism/lie group theory/kinematics analysis分类
信息技术与安全科学引用本文复制引用
范彩霞,刘宏昭..一种新型2T2R并联机构的运动学分析[J].机械科学与技术,2012,31(8):1253-1256,4.基金项目
基金项目：国家自然科学基金项目（50575180）,陕西省重点学科建设专项基金项目,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 （）
