• CN:11-2187/TH
  • ISSN:0577-6686

›› 2001, Vol. 37 ›› Issue (5): 40-43.

• 论文 • 上一篇    下一篇

虚设机构法正确性的论证

黄真;郭希娟   

  1. 燕山大学机械工程学院
  • 发布日期:2001-05-15

PROVEMENT OF THE CORRECTNESS OF VIRTUAL MECHANISM METHOD

Huang Zhen;Guo Xijuan   

  1. Yanshan University
  • Published:2001-05-15

摘要: 并联机器人多回路非对称机构应用非常广泛,对其作运动分析一直采用应用很好的虚设机构法去建立其影响系数矩阵。但虚设机构法的科学性并没有进行严格的论证。为了提供更广泛的应用基础,在这里对其合理性,正确性进行了讨论,给出了理论上的证明。

关键词: 并联机构, 虚设机构, 影响系数矩阵

Abstract: The unsymmetrical multi-loop parallel robots are applied very widely. The method of virtual mechanism is applied to analyze the kinematics of the mechanism and the influence coefficient matrices are established, and good result is obtained. But the science property of virtual mechanism is not proved strictly. Its nationality and correctness are discussed, and the is presented provement.

Key words: Influence coefficient matrix, Parallel connection mechanism, Virtual mechanism

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