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约束机构在柔索并联机器人设计中的应用
Alternative TitleApplication of Restraining Mechanism on Designing Parallel Wire-Driven Robot
张波; 王洪光; 赵明扬
Department机器人学研究室
Source Publication机械科学与技术
ISSN1003-8728
2004
Volume23Issue:12Pages:1387-1389
Indexed ByCSCD
CSCD IDCSCD:1675448
Contribution Rank1
Funding Organization国家自然科学基金项目 (5 0 2 75 14 3 )资助
Keyword柔索驱动 并联机构 约束机构
Abstract柔索并联机构是一类新型的机构 ,具有一些优于其他机构的特点 ,但因柔索特性的限制 ,可实现的运动形式较少。本文通过增加约束机构对运动平台运动进行限制 ,扩大了柔索并联机构的应用范围。文章提出约束机构的概念 ,讨论了约束机构的种类 ,并进行奇异位形的分析。
Other AbstractThe parallel wire-driven robot is a new type of robot, it has some particular advantages over other types of robots. However, only a few configurations can be realized by the parallel wire-driven robot because of the restrictions by a wire′s characteristics. By introducing a restraining mechanism to restrict the movement of the platform, the application range of the parallel wire-driven robot can be greatly extended. This paper brings forward the concept of such a restraining mechanism, discusses its categories and analyses the robot′s singular configuration.
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/3012
Collection机器人学研究室
Corresponding Author张波
Affiliation1.中国科学院研究生院
2.中国科学院沈阳自动化研究所
Recommended Citation
GB/T 7714
张波,王洪光,赵明扬. 约束机构在柔索并联机器人设计中的应用[J]. 机械科学与技术,2004,23(12):1387-1389.
APA 张波,王洪光,&赵明扬.(2004).约束机构在柔索并联机器人设计中的应用.机械科学与技术,23(12),1387-1389.
MLA 张波,et al."约束机构在柔索并联机器人设计中的应用".机械科学与技术 23.12(2004):1387-1389.
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