【24h】

Kinematics for a 2-DOF parallel manipulator

机译:2自由度并联机械手的运动学

获取原文

摘要

Various planar motion curves are commonly seen in industrial operations. The particular requirements are not only imposed on the displacements (straight line, circle, curve) but also on the dynamics (velocity, acceleration). A novel planar parallel mechanism, whose actuation point is located between two parallel guide rails, is presented in this paper. This simple but practical mechanism is capable of realizing a large workspace. The direct and inverse kinematical solutions are given. The simulation demonstrates that all kinds of straight lines and circles can be realized by the end actuator of the mechanism; the corresponding motion disciplines and characteristics driven by the two sliders are analyzed. This paper lays the foundation for the real-time control and industrial application of the 2-DOF parallel manipulator.
机译:在工业操作中通常会看到各种平面运动曲线。不仅对位移(直线,圆,曲线)有特殊要求,而且对动力学(速度,加速度)也有特殊要求。本文提出了一种新颖的平面平行机构,其致动点位于两个平行导轨之间。这种简单但实用的机制能够实现较大的工作空间。给出了正向和逆向运动学解。仿真表明,该机构的末端执行器可以实现各种直线和圆。分析了两个滑块驱动的相应运动规律和特性。本文为2-自由度并联机械手的实时控制和工业应用奠定了基础。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱:kefu@zhangqiaokeyan.com

京公网安备:11010802029741号 ICP备案号:京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有
  • 客服微信

  • 服务号