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三柔索吊床机构设计与运动学分析
Alternative TitleDesign and Kinematic Analysis of a Three-Tightwire Hammock Mechanism
郭立新; 王洪光; 赵明扬; 房立金; 陈书宏; 徐志刚
Department机器人学研究室
Source Publication机械科学与技术
ISSN1003-8728
2002
Volume21Issue:5Pages:758-760
Indexed ByCSCD
CSCD IDCSCD:1130463
Contribution Rank1
Keyword柔索机构 重力约束 运动学仿真
Abstract研制了一种有重力约束的三索控制的柔索吊床机构来模拟船体海面上的运动。为了解三柔索吊床机构的运动特性 ,对其进行了运动学建模与仿真。仿真结果表明 ,台面倾角在 0°~ 30 0°变化时 ,台面不碰撞立柱 ,且柔索伸缩长度与台面倾斜角度接近于线性变化。本文所做的工作对吊床平台避免撞击立柱、缩小吊床立柱布置空间、提高空间利用率 ,以及为吊床的运动控制提供了理论依据
Other AbstractA Three  tightwire hammock with the restriction of gravity is researched and manufactured to simulate the movement of hull in sea. In order to understand the movement characteristic of the Three  SPS parallel manipulator, the modeling and simulation is carried out. The results of simulation make clear that the platform is incapable of colliding knightheads, and the variation rate of length of tightwire to obliquity of platform comes near to linearity, when the obliquity of platform varies form 0° to 300°. What we have done provides theoretical basis for averting the platform impacting knightheads,decreasing the disposal space of knightheads, and designing a control system for the hammock.
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/3248
Collection机器人学研究室
Corresponding Author郭立新
Affiliation中国科学院沈阳自动化研究所
Recommended Citation
GB/T 7714
郭立新,王洪光,赵明扬,等. 三柔索吊床机构设计与运动学分析[J]. 机械科学与技术,2002,21(5):758-760.
APA 郭立新,王洪光,赵明扬,房立金,陈书宏,&徐志刚.(2002).三柔索吊床机构设计与运动学分析.机械科学与技术,21(5),758-760.
MLA 郭立新,et al."三柔索吊床机构设计与运动学分析".机械科学与技术 21.5(2002):758-760.
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