吴鑫,陈美丽,张彦斌.2T1R并联机构位置及奇异性分析[J].农业机械学报,2010,41(2):208-213.
Wu Xin,Chen Meili,Zhang Yanbin.Analysis of Position and Singularity of a Parallel Mechanism with Three Degrees of Freedom[J].Transactions of the Chinese Society for Agricultural Machinery,2010,41(2):208-213.
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2T1R并联机构位置及奇异性分析   [下载全文]
Analysis of Position and Singularity of a Parallel Mechanism with Three Degrees of Freedom   [Download Pdf][in English]
  
DOI:10.3969/j.issn.1000-1298.[year].[issue].[sequence]
中文关键词:  并联机构〓位置分析〓奇异性
基金项目:国家自然科学基金资助项目(50905055)
作者单位
吴鑫 河南科技大学 
陈美丽 河南科技大学 
张彦斌 河南科技大学 
中文摘要:基于有序单开链单元原理提出了一种两平移一转动(2T1R)并联机构。进行了机构的自由度和运动输出特性分析;同时对机构的位置进行了分析,求出动平台位置的正、逆解析解;并对机构的奇异性进行了研究,讨论了机构的几种奇异位形,通过Matlab软件编程,绘出机构奇异时动平台的位置随姿态的变化情况。
Wu Xin  Chen Meili  Zhang Yanbin
Henan University of Science and Technology;Henan University of Science and Technology;Henan University of Science and Technology
Key Words:Parallel mechanism  Position analysis  Singularity
Abstract:Based on the single-opened-chain (SOC) unit theory, a new parallel mechanism with two translational and one rotational(2T1R)degrees of freedom was put forward. First, the degrees of freedom and the motion output characteristic were analyzed, and then both the forward and the inverse analytical solutions of the moving platform’s position were obtained. The singular configurations of the mechanism were also discussed; the change of the position with respect to the pose angle in singular configuration was obtained through programming with Matlab software. All the above analysis provides foundation for the further research on properties and dynamics of the mechanism. 

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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