| 一种三自由度并联机器人机构的运动学分析 |
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| 引用本文： | 查展鹏.一种三自由度并联机器人机构的运动学分析[J].舰船科学技术,2007,29(1):44-47. |
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| 作者姓名： | 查展鹏 |
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| 作者单位： | 中国船舶重工集团公司第七一○研究所,湖北,宜昌,443003 |
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| 摘 要： | 提出了一种具有3个转动自由度的并联机器人机构,介绍了它的结构和特点,建立了该机器人机构的运动学位姿、速度及加速度的正反解方程,并进行了数值实例验证,为该机器人机构的进一步分析研究和开发奠定了理论基础。
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| 关 键 词： | 并联机器人 运动学 位姿 速度 加速度 |
| 文章编号： | 1672-7649（2007）01-0044-04 |
| 修稿时间： | 2006-05-24 |
Kinematics analysis of a novel 3-DOF parallel manipulator |
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| ZHA Zhan-peng.Kinematics analysis of a novel 3-DOF parallel manipulator[J].Ship Science and Technology,2007,29(1):44-47. |
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| Authors: | ZHA Zhan-peng |
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| Institution: | The 710 Research Institute of CSIC, Yichang 443003, China |
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| Abstract: | A novel 3-DOF parallel manipulator with only rotational degrees of freedom is presented in this paper. Its structure and characteristc are introduced. Closed-form solutions for both forward and inverse kinematics problems, such as displacement, velocities and accelerations are developed, which provide basis for analyzing and realizing the manipulator theoretically. |
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| Keywords: | parallel manipulator kinematics position posture velocity acceleration |
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