• CN：11-2187/TH
  • ISSN：0577-6686
机械工程学报

›› 1992, Vol. 28 ›› Issue (1): 68-75.

• 论文 • 上一篇    下一篇

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应用旋量原理作空间操作手的运动分析

Ализаде Р.И.;张启先   

  1. 苏联巴库阿塞尔拜疆多科性工学院;北京航空航天大学
  • 发布日期:1992-01-01

KINEMATIC ANALYSIS OF SPATIAL MANIPULATORS USING SCREW THEORY

R. I. Alizade;Zhang Qixian   

  1. Azerbaijan Polytechnic Institute, Baku, USSR Beijing University of Aeronautics and Astronautics
  • Published:1992-01-01

摘要： 文中运动分析问题系采用表征连杆机构和操作手杆件的位置旋量来求解。采用矢量和矢量矩的结合形式，可使分析中的算法公式有写得更为简洁。本文对在空间任意布置的矢量导出了确定位置、速度和加速度的新递推算式。由这些普遍公式很容易导出在空间有特殊布置矢量的递推算式。

关键词: 操作机构, 数学分析, 运动

Abstract: The task of kinematic analysis is solved by using sorew-displacement, cha-racterising the bars of linkages and manipulators. Combining both of vector and moment enables to write more compact expressions of algorithm to solve the task of analysis. The new recurrent expressions have been developed to describe the displacement, velocity and acceleration of arbitrarily placed screws in space. From these general expressions it is quite easy to get special recurrent expressions for particularly placed vectors in space.

Key words: 操作机构, 数学分析, 运动

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