孙恒辉,刘正士,陈恩伟.6—SPR并联机构运动学的一种分析方法[J].农业机械学报,2009,40(1):194-197.
.[J].Transactions of the Chinese Society for Agricultural Machinery,2009,40(1):194-197.
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6—SPR并联机构运动学的一种分析方法   [下载全文]
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DOI:10.3969/j.issn.1000-1298.[year].[issue].[sequence]
中文关键词:  并联机构  空间位姿  影响系数法  运动学分析
基金项目:
孙恒辉  刘正士  陈恩伟
合肥工业大学
中文摘要:以建立惯性参数辨识的动力学方程为目的,提出了6—SPR并联机构运动学的一种分析方法。首先将各分支链视为独立的串联机构,确定各构件的空间位姿。其次构造并合理简化影响系数矩阵,将质心坐标从矩阵中分离出来,则构件的运动可以唯一地用其自身的质心坐标表示。以上平台为例进行理论计算,并用ADAMS软件进行了仿真验证。
Key Words:
Abstract:Aiming to identify the inertial parameter of parallel robots, an improving method for the kinematics analysis of 6—SPR was proposed. First, by using the methods similar to series robot, the special position of each component in each branch was determined for constructing influence coefficient matrixes. Second, the barycentric coordinates were separated from the matrixes with proper simplifications. Then the motions of components can be linked linearly with its barycentric coordinates. An example about upper mounting plate’s motion was simulated by the ADAMS software to show the effectiveness of the method. 

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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