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为实现较大活动空间内对重物的搬运仓储,提出了一种具有串联机构工作空间大和并联机构承载能力高等优点的新型混联机械臂。该机械臂的自由度为2,具有平面内的一个移动和一个转动自由度基于几何解析法分析了该机构的运动学正反解,并且给出了5组正反解分析数值算例,验证了正反解分析的正确性。
In order to realize the handling and storage of heavy objects in a large space, a novel hybrid manipulator with the advantages of high carrying capacity of large and parallel working spaces in tandem mechanism was proposed. The degree of freedom of the manipulator is 2, with one in-plane movement and one rotational degree of freedom. Based on the geometric analysis method, the kinematic inverse solution of this mechanism is analyzed. And five sets of numerical examples of forward and backward analysis are given and verified The correctness of the forward and backward analysis.