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混合型4自由度并联机构及其运动学建模
Alternative TitleNOVEL 4-DOF HYBRID PARALLEL MECHANISM AND ITS KINEMATIC MODELING
赵明扬; 陈文家; 王洪光; 陈书宏; 房立金; 徐志刚
Department机器人学研究室
Source Publication机械工程学报
ISSN0577-6686
2002
Volume38Issue:1Pages:123-126
Indexed ByEI ; CSCD
EI Accession number2002397108104
CSCD IDCSCD:1012567
Contribution Rank1
Funding Organization国家“九五”攻关课题基金(96-A22-01-03);;中国科学院机器人学开放研究实验室基金资助项目(RL199809)。
Keyword并联机构 4自由度 运动学 建模
Abstract提出一种混合型4自由度并联平台机构,该机构的动平台能够实现两个方向的移动以及绕两个方向轴线的转动。研究了该机构的运动学建模方法,给出了运动学正、逆解。基于本文所提出的4自由度并联机构已成功地研制出一台五坐标并联机床。
Other AbstractA novel 4 degrees of freedom hybrid parallel platform manipulator is presented. The movable platform of the manipulator can translate along two directions respectively and rotate around two axes respectively. The kinematics model is formulated, which describes the inverse kinematics and forward kinematics. A 5-axis parallel machine tool is developed based on the 4-DOF parallel manipulator presented.
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/3240
Collection机器人学研究室
Corresponding Author赵明扬
Affiliation中国科学院沈阳自动化研究所
Recommended Citation
GB/T 7714
赵明扬,陈文家,王洪光,等. 混合型4自由度并联机构及其运动学建模[J]. 机械工程学报,2002,38(1):123-126.
APA 赵明扬,陈文家,王洪光,陈书宏,房立金,&徐志刚.(2002).混合型4自由度并联机构及其运动学建模.机械工程学报,38(1),123-126.
MLA 赵明扬,et al."混合型4自由度并联机构及其运动学建模".机械工程学报 38.1(2002):123-126.
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