中北大学学报（自然科学版）2019，Vol.40Issue(3)：206-210,5.DOI:10.3969/j.issn.1673-3193.2019.03.003
新型三自由度混合冗余驱动机构运动学研究
Kinematics Analysis of a Novel 3-DOF Hybrid Redundantly Driven Mechanism
摘要
Abstract
A new 3-PSS-6 R3-DOF hybrid redundant driven was proposed based on hybrid driven mechanism and redundant driven mechanism.The mechanism could achieve two-dimensional translation and one-dimensional rotation composed of four branch chains, three of which were PSS (prismatic pairspherica pair-spherica pair) limbs distributed symmetrically at the center of the fixed and moving platform, and had no constraint on the movement of the mechanism.A middle limb was composed of a fivebar mechanism driven by constant speed motor and servo motor and a spatial link, which simultaneously constrained the movement of the whole mechanism.The inverse position solution model of the mechanism was established, and the inverse position solution of the mechanism was obtained.Then, the kinematics was verified by numerical method.The research provide theoretical basis for the development of hybrid driven mechanism to space.关键词
混合驱动/冗余驱动/运动学分析/运动学逆解Key words
hybrid driven/redundantly driven/kinematic/inverse kinematics solution分类
机械制造引用本文复制引用
张启升,李瑞琴,梁晶晶..新型三自由度混合冗余驱动机构运动学研究[J].中北大学学报（自然科学版）,2019,40(3):206-210,5.基金项目
国家自然科学基金资助项目(51275486) （51275486）
山西省先进制造技术重点实验室资助项目(XJZZ201702) （XJZZ201702）
