• CN:11-2187/TH
  • ISSN:0577-6686

›› 1986, Vol. 22 ›› Issue (3): 1-9.

• 论文 •    下一篇

空间7R机构位移分析的新研究

廖启征;梁崇高;张启先   

  1. 北京邮电学院;北京航空学院
  • 发布日期:1986-06-01

A NOVEL APPROACH TO THE DISPLACEMENT ANALYSIS OF GENERAL SPATIAL 7R MECHANISM

Liao Qizheng;Liang Chonggao;Zhang Qixian   

  1. Beijing Institute of Posts and Telecommunications Beijing Institute of Aeronautics and Astronautics
  • Published:1986-06-01

摘要: 空间一般七杆7R(R代表转动付)机构的位移分析是机构学中尚未彻底解决的最困难问题之一,F.Freudenstein将它喻为机构运动分析中的珠穆朗玛峰[2]。J.Duffy等发表过一篇关于7R机构位移分析的文章[1],导出的输入输出方程是32次多项式。但是,最近,人们相信7R机构的输入输出方程应该是16次。笔者应用复数法,经过努力,终于导出了这个16次方程,从而解决了这一难题。

关键词: 前馈补偿控制器, 位置控制系统, 液压驱动单元, 液压驱动足式机器人

Abstract: The displacement analysis of the general spatial 7R mechanism is one of he most difficult tasks in the kinematic analysis of spatial mechanisms. In the paper published in 1980 by J. Duffy and C. Crane, the input-output equation for this mechanism was shown to be 32nd degree. Recently J. Duffy began to believe that the proper order of the input output equation should be lower. In the present paper the input-output equation without any unwanted roots has been worked out to be 16th degree by using a complex number method, which is much simpler in computer programming than the others. A numerical. Verification shows that the real roots are agreed with those obtained by J. Duffy.

Key words: feedforward compensation controller, hydraulic drive unit(HDU), Position control system, Hydraulic drive legged robot