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| 3-UrSR 6自由度并联机构位置分析 | |
| 引用本文： | 虞启凯,游有鹏,韩江义. 3-UrSR 6自由度并联机构位置分析[J]. 农业机械学报, 2011, 42(12): 215-219 |
| 作者姓名： | 虞启凯 游有鹏 韩江义 |
| 作者单位： | 1. 南京航空航天大学江苏省精密与微细制造技术重点实验室,南京210016;南京化工职业技术学院机械系,南京210048 2. 南京航空航天大学江苏省精密与微细制造技术重点实验室,南京,210016 3. 江苏大学汽车与交通工程学院,镇江,212013 |
| 基金项目： | 国家自然科学基金资助项目(50975144) |
| 摘 要： | 提出一种采用球面2自由度五杆作为驱动装置的3 - UrSR并联机构.对该机构自由度进行了计算,对机构的位置反解进行了分析和研究,并列出了正解的约束方程组.最后用反解验证了正解的正确性,给出了该机构的位姿分析的数值仿真实例及图形. |
| 关 键 词： | 并联机构 6自由度 位置正反解 空间分析 |
Position Analysis of 3-UrSR Parallel Mechanism with 6-DOF |
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| Yu Qikai , You Youpeng , Han Jiangyi. Position Analysis of 3-UrSR Parallel Mechanism with 6-DOF[J]. Transactions of the Chinese Society for Agricultural Machinery, 2011, 42(12): 215-219 | |
| Authors: | Yu Qikai You Youpeng Han Jiangyi |
| Affiliation: | Nanjing University of Aeronautics and Astronautics,Nanjing College of Chemical Technology;Nanjing University of Aeronautics and Astronautics;Jiangsu University |
| Abstract: | A parallel mechanism named 3-UrSR was proposed.It used 2-DOF spherical five-bar mechanism as the compound drive device.The mechanism freedoms were calculated,and the mechanism inverse solution was analyzed.The equations of forward solutions to positions were established.At last,the results of forward solutions was numerical verified by inverse solutions,and the simulation example and figure of mechanism positional posture numerical were given. |
| Keywords: | Parallel mechanism 6-DOF Position forward and inverse solutions Workspace analysis |
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