CAJ | 학술논문

提出一种新型三平移三自由度空间并联机器人机构,进行机构运动输出特性分析及自由度计算,并建立2-UPU-RRC并联机器人机构的位置正、反解方程.得到该机构的奇异位形.该机构解耦性好,为系统控制提供了方便.
제출일충신형삼평이삼자유도공간병련궤기인궤구,진행궤구운동수출특성분석급자유도계산,병건립2-UPU-RRC병련궤기인궤구적위치정、반해방정.득도해궤구적기이위형.해궤구해우성호,위계통공제제공료방편.
A new type of 3 degrees of freedom parallel robot manipulator for realizing three translations is put forward.It's kinetic properties and degrees of freedom were calculated.The forward and inverse position equations of 2-UPU-RRC parallel manipulator wero established and the singular configuration was obtained.At the same time,its positional inverse resolution model is very simpie,which provides a theoretical base for the system control of this manipulator.