THE KINEMATICS AND STATICS ANALYSIS OF A 2-DOF THREE BRANCHES PARALLEL MECHANISM

摘要：

According to the parallel mechanism which is less than six degrees has many merits, this paper presented a kind of two-degree-of-freedom and three branches parallel mechanism, introduced this mechanisms composition, and induced the direct and the inverse solution formulas of this parallel mechanisms kinematics and statics, with the Jacobian matrix and its inverse matrix obtained. Through analysis we can see that this parallel mechanisms kinematics and statics solution has the explicit expression, and this parallel mechanism is easy to realize the real-time control, could satisfy the project practical application, and has the widespread project practical value.

关键词： Parallel Mechanism Kinematics Statics The Direct And The Inverse Solution Jacobian Matriz

作者: XU-ZHAO HAN YU-MEI HUANG CHUN CHEN LI-XIN ZHANG XIAO-JIANG CAI

作者单位: School of Mechanical and Precision Instrument Engineering, Xian University of Technology, Shaanxi Xian 710048, China

会议类型: 国际会议

会议名称: 2008 International Conference on Machine Learning and Cybernetics(2008机器学习与控制论国际会议)

会议地点: 昆明

会议语种:英文

页码: 2398-2401

在线出版日期: 2008-07-12（万方平台首次上网日期，不代表论文的发表时间）