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3PUS-S(P)变胞并联机构的位置逆解及工作空间分析

金国光 刘艳茹 畅博彦

金国光, 刘艳茹, 畅博彦. 3PUS-S(P)变胞并联机构的位置逆解及工作空间分析[J]. 机械科学与技术, 2016, 35(4): 557-561. doi: 10.13433/j.cnki.1003-8728.2016.0411
引用本文: 金国光, 刘艳茹, 畅博彦. 3PUS-S(P)变胞并联机构的位置逆解及工作空间分析[J]. 机械科学与技术, 2016, 35(4): 557-561. doi: 10.13433/j.cnki.1003-8728.2016.0411
Jin Guoguang, Liu Yanru, Chang Boyan. Analyzing Position and Workspace of a 3PUS-S(P) Parallel Metamorphic Mechanism[J]. Mechanical Science and Technology for Aerospace Engineering, 2016, 35(4): 557-561. doi: 10.13433/j.cnki.1003-8728.2016.0411
Citation: Jin Guoguang, Liu Yanru, Chang Boyan. Analyzing Position and Workspace of a 3PUS-S(P) Parallel Metamorphic Mechanism[J]. Mechanical Science and Technology for Aerospace Engineering, 2016, 35(4): 557-561. doi: 10.13433/j.cnki.1003-8728.2016.0411

3PUS-S(P)变胞并联机构的位置逆解及工作空间分析

doi: 10.13433/j.cnki.1003-8728.2016.0411
基金项目: 

国家自然科学基金项目(51275352)资助

详细信息
    作者简介:

    金国光(1963-),教授,博士生导师,研究方向为机器人机构学、机械系统动力学及其控制,jinguoguang@tjpu.edu.cn

Analyzing Position and Workspace of a 3PUS-S(P) Parallel Metamorphic Mechanism

  • 摘要: 以3PUS-S(P)球面变胞并联机构为研究对象。机构由动平台、静平台、3条PUS支链和1条中间S(P)变胞支链组成,具有2个构态,即构态1(正常构态)和构态2(变胞构态)。构态1时,动平台相对静平台具有3个转动自由度,等效于三自由度球面机构;构态2时,动平台具有1个额外的径向移动自由度。首先,运用矢量代数法,建立机构运动学位置逆解模型;其次,在位置逆解模型的基础上,建立求解机构工作空间的约束条件;最后,以实物样机为研究对象,采用边界搜索法确定该机构的工作空间,为机构进一步的分析与应用奠定基础。
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出版历程
  • 收稿日期:  2014-07-07
  • 刊出日期:  2016-04-05

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