亚洲一区欧美在线,日韩欧美视频免费观看,色戒的三场床戏分别是在几段,欧美日韩国产在线人成

完全解耦二移動二轉(zhuǎn)動并聯(lián)機(jī)構(gòu)結(jié)構(gòu)綜合
作者:
作者單位:

作者簡介:

通訊作者:

中圖分類號:

基金項目:

國家自然科學(xué)基金資助項目(50905055)、河南省高校青年骨干教師資助項目(2010GGJS-079)和河南科技大學(xué)博士啟動科研基金資助項目


Structural Synthesis of Fully-decoupled Two-translational and Two-rotational Parallel Mechanisms
Author:
Affiliation:

Fund Project:

  • 摘要
    • |
  • 圖/表
    • |
  • 訪問統(tǒng)計
    • |
  • 參考文獻(xiàn)
    • |
  • 相似文獻(xiàn)
    • |
  • 引證文獻(xiàn)
    • |
  • 資源附件
    • |
  • 文章評論
    摘要:

    基于混聯(lián)機(jī)構(gòu)概念和互易螺旋理論提出了完全解耦二維移動二維轉(zhuǎn)動（2T2R）并聯(lián)機(jī)構(gòu)結(jié)構(gòu)綜合的方法，得到106種機(jī)構(gòu)。綜合出的機(jī)構(gòu)有兩條分支運(yùn)動鏈直接與動平臺和靜平臺相連，其中一條為單開鏈，另一條為混合鏈。所有機(jī)構(gòu)速度雅可比矩陣均為對角陣，即動平臺的輸出速度與4個主動副的輸入速度之間存在一一對應(yīng)的映射關(guān)系，故此類機(jī)構(gòu)運(yùn)動學(xué)解完全解耦，克服了一般并聯(lián)機(jī)構(gòu)耦合性強(qiáng)、控制復(fù)雜的弱點。

    Abstract:

    Based on the concept of hybrid mechanism and reciprocal screw theory, a method of structural synthesis of fully-decoupled two-translational and two-rotational (2T2R) parallel mechanisms was proposed and 106 parallel mechanisms were obtained. All mechanisms synthesyzed in this paper consisted of two limbs which were connected with the moving platform and the fixed base. One limb was a single open kinematic chain and another was a hybrid chain. Jacobian matrix of each mechanism was diagonal and there existed a one-to-one mapping relationship between the output velocity of platform and input of actuated joints. Therefore, these parallel mechanisms were fully-decoupled on kinematic solutions, which could avoid some drawbacks of the general paprallel mechanisms in terms of high coupling and complicated control design.

    參考文獻(xiàn)
    相似文獻(xiàn)
    引證文獻(xiàn)
引用本文

張彥斌,吳鑫.完全解耦二移動二轉(zhuǎn)動并聯(lián)機(jī)構(gòu)結(jié)構(gòu)綜合[J].農(nóng)業(yè)機(jī)械學(xué)報,2013,44(8):250-256. Zhang Yanbin, Wu Xin. Structural Synthesis of Fully-decoupled Two-translational and Two-rotational Parallel Mechanisms[J]. Transactions of the Chinese Society for Agricultural Machinery,2013,44(8):250-256.

復(fù)制
分享
文章指標(biāo)
  • 點擊次數(shù):
  • 下載次數(shù):
  • HTML閱讀次數(shù):
  • 引用次數(shù):
歷史
  • 收稿日期:
  • 最后修改日期:
  • 錄用日期:
  • 在線發(fā)布日期: 2013-07-19
  • 出版日期: