中国机械工程
中國機械工程
중국궤계공정
CHINA MECHANICAl ENGINEERING
2011年
20期
2403-2406
,共4页
串联球面机构%三自由度%位置分析%工作空问
串聯毬麵機構%三自由度%位置分析%工作空問
천련구면궤구%삼자유도%위치분석%공작공문
serial spherical mechanism%three degree of freedom （3 -- DOF）%position solution%workspace
提出了一种新型的三自由度RPR球面串联机构，并对该机构的运动学与工作空间问题进行了分析。通过D—H坐标变换建立了机构的位置方程，求出了位置正反解表达式，并给出了位置反解的数值实例。运用蒙特卡洛法对机构的工作空间进行了分析，给出了二维和三维形式的机构工作空间图。
提齣瞭一種新型的三自由度RPR毬麵串聯機構，併對該機構的運動學與工作空間問題進行瞭分析。通過D—H坐標變換建立瞭機構的位置方程，求齣瞭位置正反解錶達式，併給齣瞭位置反解的數值實例。運用矇特卡洛法對機構的工作空間進行瞭分析，給齣瞭二維和三維形式的機構工作空間圖。
제출료일충신형적삼자유도RPR구면천련궤구，병대해궤구적운동학여공작공간문제진행료분석。통과D—H좌표변환건립료궤구적위치방정，구출료위치정반해표체식，병급출료위치반해적수치실례。운용몽특잡락법대궤구적공작공간진행료분석，급출료이유화삼유형식적궤구공작공간도。
A novel 3-DOF RPR serial spherical mechanism was proposed herein for orientation operation on a spherical surface. The kinematic analysis and workspace of the proposed mechanism was also investigated. After setting up D- H coordinate system on the mechanism, the forward and inverse position solutions of the mechanism were explored. A numerical example of inverse solution was presented. Furthermore, the workspace of the mechanism was investigated with Monte Carlo method. The workspace maps of the mechanism were presented in two--dimension and three-dimension respectively.
