摘要
应用螺旋理论分析一种二自由度球形五杆并联机构的运动螺旋及其反螺旋,在此基础上分析了其自由度。建立其位置正、反解方程,并进行验证。应用螺旋理论建立了其一阶影响系数矩阵。
Based on the screw theory, the kinematics characteristics of a kind of 2 - DOF five - bar spherical parallel mechanism are analyzed including the kinematics screw, reverse screw, degree of freedom, the forward and inverse solution equations and the first order influence coefficient matrix.
出处
《华北航天工业学院学报》
CAS
2004年第4期8-11,共4页
Journal of North China Institute of Astronautic Engineering
关键词
并联机构
运动螺旋
位置分析
影响系数
parallel mechanism
kinematics screw
analysis of position
influence coefficient
