## 留言板

 引用本文: 房海蓉, 方跃法, 郭胜等 . 四自由度对称并联机器人结构综合方法[J]. 北京航空航天大学学报, 2005, 31(03): 346-350.
Fang Hairong, Fang Yuefa, Guo Shenget al. Structural synthesis method for 4-degrees-of-freedom symmetrical parallel manipulators[J]. Journal of Beijing University of Aeronautics and Astronautics, 2005, 31(03): 346-350. (in Chinese)
 Citation: Fang Hairong, Fang Yuefa, Guo Shenget al. Structural synthesis method for 4-degrees-of-freedom symmetrical parallel manipulators[J]. Journal of Beijing University of Aeronautics and Astronautics, 2005, 31(03): 346-350. (in Chinese)

## 四自由度对称并联机器人结构综合方法

###### 作者简介:房海蓉(1968-),女,辽宁凌源人,博士生, fhr@jdxy.njtu.edu.cn.
• 中图分类号: TH 112.1

## Structural synthesis method for 4-degrees-of-freedom symmetrical parallel manipulators

• 摘要: 利用螺旋理论,分析了少自由度并联机构中支链运动螺旋系与动平台约束螺旋系的关系,列举了五阶运动螺旋系的支链类型,在此基础上提出了一种四自由度对称并联机器人结构综合的方法,并利用该方法针对动平台3转动1移动的运动特征要求,进行了结构综合,得到多种具有对称结构的四自由度并联机器人机构类型.结果表明:少自由度并联机构的运动与约束通过螺旋数学模型来表达简单直观,便于机构的型综合;同时该方法针对给定动平台的运动特征,可以方便快捷地进行对称结构的型综合,有利于少自由度并联机器人机构的结构创新,为少自由度并联机构的优化设计奠定了基础.

•  [1] Fang Yuefa, Tsai Lungwen. Structure synthesis of a class of 4-DOF and 5-DOF parallel manipulators with identical limb structures[J] The International Journal of Robotics Research, 2002, 21(9):799~810 [2] Tsai Lungwen. Kinematics of a three-DOF platform manipulator with three extensible limbs. In:Recent Advances in Robot Kinematics. London:Kluwer Academic Publishers, 1996. 401~410 [3] Sameer Joshi,Tsai Lungwen. A comparison study of two 3-DOF parallel manipulators:one with three and the other with four supporting legs [J] Robotics and Automation, IEEE Transactions on, 2003,19(2):200~209 [4] Lenarcic J,Stanisic M M, Parenti-Castelli V. A 4-DOF parallel mechanism simulating the movement of the human sternum-clavicle-scapula complex. In:Advances in Robot Kinematics. London:Kluwer Academic Publishers, 2000. 325~332 [5] Rolland L H. The manta and the kanuk novel 4-DOF parallel mechanisms for industrial Handling. In:Proc ASME Int Conf on Mechanical Engineering. Nashville:TN, 1999 [6] Hunt K H. Structural kinematics of in-parallel-actuated robot-arms. ASME Transactions, Journal of Mechanisms, Transmissions, and Automation in Design,1983,105(4):705~712 [7] 金 琼,杨廷力,刘安心,等. 基于单开链单元的三移动一转动并联机器人机构型综合及其分类[J] 中国机械工程, 2001, 12(9):1038~1043 Jin Qiong, Yang Tingli, Liu Anxin, et al. Structural synthesis and classification of the 4-DOF(3T-1R)parallel robot mechanisms based on the units of single-opened-chain[J] China Mechanical Engineering, 2001, 12(9):1038~1043(in Chinese)

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##### 出版历程
• 收稿日期:  2003-09-19
• 网络出版日期:  2005-03-31

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