首页> 外文学位 >Kinematic analysis, dynamic analysis and static balancing of planar and spatial parallel mechanisms or manipulators with revolute actuators.
【24h】

Kinematic analysis, dynamic analysis and static balancing of planar and spatial parallel mechanisms or manipulators with revolute actuators.

机译:带有旋转执行器的平面和空间并联机构或机械手的运动学分析,动态分析和静态平衡。

获取原文
获取原文并翻译 | 示例

摘要

The kinematic analysis, the dynamic analysis and the static balancing of planar and spatial parallel mechanisms or manipulators with revolute actuators are presented in this thesis.; First, the inverse kinematics of each mechanism is computed and a new general algorithm is proposed to locate the boundaries of the workspace of the mechanism. Two approaches are used to derive the velocity equations of the mechanisms. One of them is a new approach. The singularity loci is then determined using the velocity equations. The kinematic optimization of mechanisms with reduced degree of freedom is also discussed.; A new approach based on the principle of virtual work for the dynamic analysis of parallel mechanisms or manipulators is proposed in the thesis. The Newton-Euler approach is also used for the dynamic analysis of parallel mechanisms or manipulators. Each approach has its own advantages and is suitable for different usage.; Finally, the static balancing of parallel mechanisms or manipulators is studied in this thesis. Two approaches are used to derive the balancing conditions of the mechanisms.
机译:本文介绍了平面和空间并联机构或带旋转执行器的机械手的运动学分析,动态分析和静态平衡。首先,计算每种机构的逆运动学,并提出一种新的通用算法来定位机构工作空间的边界。两种方法可用于导出机构的速度方程。其中之一是新方法。然后使用速度方程式确定奇异位点。还讨论了减小自由度的机构的运动学优化。本文提出了一种基于虚拟工作原理的并联机构或机械手动态分析方法。 Newton-Euler方法也用于并行机制或操纵器的动态分析。每种方法都有其自身的优点,并且适合不同的用法。最后,本文研究了并联机构或机械手的静态平衡。两种方法可用于得出机制的平衡条件。

著录项

  • 作者

    Wang, Jiegao.;

  • 作者单位

    Universite Laval (Canada).;

  • 授予单位 Universite Laval (Canada).;
  • 学科 Engineering Mechanical.
  • 学位 Ph.D.
  • 年度 1998
  • 页码 194 p.
  • 总页数 194
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类 机械、仪表工业;
  • 关键词

  • 入库时间 2022-08-17 11:48:29

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