摘要
该文阐述了柔索驱动并联机构的特点及其潜在的应用范围 ,提出了一种新型的六自由度柔索驱动并联机构的结构形式。采用几何方法给出了该机构的构型设计过程 ,建立了该机构的数学模型 ,并进行位置分析和静力学分析 ;在此基础上利用正交补的方法 ,给出工作空间的判别条件 ;最后在Mathematica环境下编程进行仿真 ,获得了该机构工作空间的数值表示。
This paper presents the characteristics and potential application fields of wire-driven manipulator, deals with the architecture design and kinematic analysis of a 6 DOF (dimension of freedom) wire-driven parallel kinematic manipulator. This paper gives the procedure of architecture design using geometrical method , presents the inverse kinematic and static analysis with the kinematic model of this manipulator. Based on these, the second part gives the condition of whether a pose is in the controllable workspace using nullspace method. Finally, this paper demonstrates the controllable workspace of the manipulator using the condition under Mathematica environment. The simulated result is the numerical expression of the controllable workspace.
出处
《南京理工大学学报》
EI
CAS
CSCD
北大核心
2004年第6期601-605,共5页
Journal of Nanjing University of Science and Technology
关键词
并联机构
柔索驱动
工作空间
正交补
parallel kinematic manipulator
wire-driven architecture
controllable workspace
nullspace
