机械制造与自动化Issue(6)：169-171,241,4.
一种新型3 T1 R并联机器人的拓扑结构设计及运动学分析
Structure Design and Displacement Analysis of New 3T1R Parallel Manipulator
徐乃昊 1刘安心 1赵明 1沈惠平 2杨廷力2
作者信息
- 1. 解放军理工大学，江苏 南京210000
- 2. 常州大学 机械工程学院，江苏 常州213000
- 折叠
摘要
Abstract
This paper designs a new 3T1R paral el robot. Its topological features are analyzed by POC and the DOF and the kinemat￣ic features of the 3T1R paral el robot are insured by the mean of Yang-Sun notation. The proper kinematic model is established and the kinematic equation of 3T1R paral el robot is set up according to the relation of the spatial robot components. Then the inverse so￣lution and forward solution of this 3T1R paral el robot are calculated by the kinematic equations which are used to lay the foundation of further studying its kinematics and optimizing its design.关键词
并联机器人/拓扑结构/设计/运动学方程Key words
paral el robot/topology structure/design/kinematic equation分类
信息技术与安全科学引用本文复制引用
徐乃昊,刘安心,赵明,沈惠平,杨廷力..一种新型3 T1 R并联机器人的拓扑结构设计及运动学分析[J].机械制造与自动化,2016,(6):169-171,241,4.
