• CN:11-2187/TH
  • ISSN:0577-6686

›› 1991, Vol. 27 ›› Issue (2): 51-55.

• 论文 • 上一篇    下一篇

YS-I型多环机器人机构特殊位形下机构运动学动力学性质的研究

黄真;曲义远   

  1. 燕山大学;齐齐哈尔轻工学院
  • 发布日期:1991-03-01

THE KINEMATIC AND DYNAMIC CHARACTERISTICS ON SPECIAL CONFIGURATION OF MULTILOOP ROBOT MANIPULATOR YS-Ⅰ

Huang Zhen;Qu Yiyuan   

  1. Yanshan University
  • Published:1991-03-01

摘要: 本文讨论并联机器人机构的特殊位形。介绍了主特殊位形的出;重点讨论在特殊位形下机构受力、自由度的变化、瞬时自由度的确定和机构的死点。

关键词: 动力学, 机器人, 码盘偏心, 扭振测试, 误差分析

Abstract: The special configuration of multiloop manipulators is discussed in the paper: The main special configuration is introduced. The static analysis, the variation of the degrees of freedom, the determination of instantaneous motion and the dead point of the mechanism are presented.

Key words: 动力学, 机器人, Encoder eccentricity, Error analysis, Torsional vibration test