轻工机械2017，Vol.35Issue(2)：63-65,69,4.DOI:10.3969/j.issn.1005-2895.2017.02.013
新型二自由度移动并联机构设计
Mechanism Design of Novel Parallel with 2-DOF
摘要
Abstract
According to the need of industrial equipment grabing objects quickly and the advantages of parallel mechanism,a new kind of parallel mechanism with 2-DOF was studied aiming at the characteristics of catching things fast.Kinematic analysis was studied.The kinematic model of the mechanism was setting up,and the forward and inverse kinematics were solved by the Pythagorean theorem.The Jacobian matrix was derived.The workspace which conforms to the actual constraint conditions was obtained.The correctness of the forward and inverse kinematics was verified by SolidWorks and MATLAB simulation software.The parallel mechanism has a larger horizontal displacement,and it can satisfy the demand.关键词
并联机构/运动学分析/工作空间/雅克比矩阵/SolidWorks软件/MATLAB软件Key words
parallel mechanism/kinematic analysis/workspace/Jacobian matrix/SolidWorks software/MATLAB software分类
信息技术与安全科学引用本文复制引用
柳建飞,张伟中..新型二自由度移动并联机构设计[J].轻工机械,2017,35(2):63-65,69,4.基金项目
浙江省高校重中之重学科开放基金资助(ZSTUME01A07). （ZSTUME01A07）
