机器人2013，Vol.35Issue(4)：456-461,6.DOI:10.3724/SP.J.1218.2013.00456
一种六输入三自由度并联平台机构分析
Analysis on a Parallel Platform Mechanism with 6 Inputs and 3 DOFs
摘要
Abstract
A parallel platform mechanism is put forward,in which the number of inputs is six and the DOF (degree of freedom) of moving platform is three.The inputs of the mechanism are redundant for the moving platform.The DOF of the system is six as the coordination components are incorporated,and the inputs are determinate for the whole mechanism.So the problem of distribution of over-determinate inputs is avoided and the mechanism has advantages like redundant actuation mechanism.The generalized outputs of mechanism are the movements of moving platform and coordination components.By analyzing kinematics of the mechanism,the mapping relationship between inputs and generalized outputs is established,and the first-order and second-order influence coefficient matrix are obtained respectively.Based on the virtual work principle and D'Alembert principle,the dynamic model of the mechanism is built.The simulation results show that the parallel platform mechanism has the characteristics of high load carrying capacity.The method proposed is a new solution to design parallel mechanisms with heavy load carrying capability.关键词
并联平台机构/输入协调/运动学/动力学Key words
parallel platform mechanism/ inputs coordination/ kinematics/ dynamics分类
信息技术与安全科学引用本文复制引用
苑飞虎,赵铁石,刘晓,耿明超,陈宇航,殷晶晶..一种六输入三自由度并联平台机构分析[J].机器人,2013,35(4):456-461,6.基金项目
国家自然科学基金资助项目(50975244). （50975244）
