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空間4—SPS/CU并聯(lián)機構(gòu)運動學分析
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國家自然科學基金資助項目（50575180）;陜西高校省級重點實驗室科研項目（2010JS080）;陜西省重點學科建設(shè)專項資金資助項目


Kinematics Analysis of Spatial 4—SPS/CU Parallel Mechanism
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    摘要:

    提出了一種能實現(xiàn)空間三維轉(zhuǎn)動和沿Z軸移動的機構(gòu)模型——空間4—SPS/CU并聯(lián)機器人機構(gòu)模型，其中SPS支鏈為驅(qū)動支鏈，CU為恰約束從動支鏈。采用螺旋理論分析了4—SPS/CU并聯(lián)機構(gòu)實現(xiàn)空間三轉(zhuǎn)動一移動的機構(gòu)學原理，計算了自由度，給出了位置正解和反解的方法，導出了Jacobian 矩陣，分析了速度、加速度性能、奇異位形與工作空間，為該并聯(lián)機構(gòu)的實際應用提供了理論依據(jù)。

    Abstract:

    Spatial parallel mechanism of a novel 4—SPS/CU that can perform three-dimensional rotations and translation about Z axis was presented. The parallel mechanism of 4—SPS/CU, with SPS-limp regarded as the driver and CU-limp regarded as the driven, was synthesized. The principles that the mechanism could perform the above motions were analyzed based on the screw theory, and the degree of freedom of the mechanism was calculated. The forward and reverse solutions of position analysis were presented, then the Jacobian matrix of the mechanism was derived and its velocity, acceleration performance, singular configuration and workspace were analyzed.

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王庚祥,原大寧,劉宏昭,吳現(xiàn)衛(wèi).空間4—SPS/CU并聯(lián)機構(gòu)運動學分析[J].農(nóng)業(yè)機械學報,2012,43(3):207-212， 199. Wang Gengxiang, Yuan Daning, Liu Hongzhao, Wu Xianwei. Kinematics Analysis of Spatial 4—SPS/CU Parallel Mechanism[J]. Transactions of the Chinese Society for Agricultural Machinery,2012,43(3):207-212， 199.

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  • 在線發(fā)布日期: 2012-03-17
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