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

›› 2002, Vol. 38 ›› Issue (1): 123-126.

• 论文 • 上一篇    下一篇

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混合型4自由度并联机构及其运动学建模

赵明扬;陈文家;王洪光;陈书宏;房立金;徐志刚   

  1. 中国科学院沈阳自动化研究所
  • 发布日期:2002-01-15

NOVEL 4-DOF HYBRID PARALLEL MECHANISM AND ITS KINEMATIC MODELING

Zhao Mingyang;Chen Wenjia;Wang Hongguang;Chen Shuhong;Fang Lijin;Xu Zhigang   

  1. Shenyang Institute of Automation, Chinese Academy of Sciences
  • Published:2002-01-15

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摘要： 提出一种混合型4自由度并联平台机构，该机械的动平台能够实现两个方向的移动以及绕两个方向轴线的转动。研究了该机械的运动学建模方法，给出了运动学正、逆解。基于本文所提出的4自由度并联机构已成功地研制出一台五坐标并联机床。

关键词: 4自由度, 并联机构, 建模, 运动学

Abstract: A novel 4 degrees of freedom hybrid parallel platform manipulator is presented. The movable platform of the manipulator can translate along two directions respectively and rotate around two axes respectively. The kinematics model is formulated, which describes the inverse kinematics and forward kinematics. A 5-axis parallel machine tool is developed based on the 4-DOF parallel manipulator presented.

Key words: 4 degrees of freedom, Kinematics, Modeling, Parallel mechanism

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