|本期目录/Table of Contents|

[1]韩阳,胡挺,鲁宁,等. 交叉型平面二自由度移动并联机构运动学性能分析[J].浙江理工大学学报,2012,29(03):383-389.
　HAN Yang,HU Ting,LU Ning,et al. Kinematic Performance Analysis of Intersectional Planar2DoFs Translation Parallel Manipulator[J].Journal of Zhejiang Sci-Tech University,2012,29(03):383-389.
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 交叉型平面二自由度移动并联机构运动学性能分析()
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浙江理工大学学报[ISSN:1673-3851/CN:33-1338/TS]

卷:
第29卷
期数:
2012年03期
页码:
383-389
栏目:
出版日期:
2012-06-28

文章信息/Info

Title:
 Kinematic Performance Analysis of Intersectional Planar2DoFs Translation Parallel Manipulator
文章编号:
16733851 (2012) 03038307
作者:
 韩阳;  胡挺;  鲁宁;  李秦川
 浙江理工大学机械与自动控制学院, 杭州 310018
Author(s):
 HAN Yang;  HU Ting;  LU Ning;  LI Qinchuan
 School of Machinery & Automation, Zhejiang SciTech University, Hangzhou 310018, China
关键词:
并联机构;  性能指标;  性能图谱
分类号:
TH112
文献标志码:
A
摘要:
    为研究一种新型平面二自由度移动并联机构的运动学性能，建立其运动学模型，推导出位置正/逆解的解析表达式，定义运动学性能指标，分析不同构型的性能指标表达式，探讨性能指标与机构尺寸之间的关系，并绘制相关的性能图谱。得到该并联机构具有较大有效工作空间与机架尺寸比值、导轨长度短等优点。这些性能图谱为该并联机构的优化提供了参考。

参考文献/References:

 ［1］Merlet J P. Parallel Robots［M］. Nethenland: Khwer Academic Publishers, 2006.
［2］ 李占贤. 高性能平面二自由度并联机器人研究［D］. 天津: 天津大学, 2004.
［3］ 彭卫东. IC芯片粘片机并联焊头机构的运动学动力学分析及实验研究［D］. 广州: 广东工业大学, 2008.
［4］ Liu Xinjun. Kinematics, dynamics and dimensional synthesis of a novel 2Dof translational manipulator［J］. Journal of Intelligent and Robotic Systems: Theory and Applications, 2005, 41(4): 205224.
［5］ Alici G. An inverse position analysis of fivebar planar parallel manipulators［J］. Robotica, 2002, 20: 195362.
［6］ CervantesSánchez J J, HernándezRodríguez J C. On the workspace, assembly configurations and singularity curves of the RRRRRtype planar manipulator［J］. Mechanism and Machine Theory, 2000, 35: 11171139.［7］ CervantesSánchez J J, HernándezRodríguez J C. On the kinematic design of the 5R planar symmetric manipulator［J］. Mechanism and Machine Theory, 2001, 36: 10311313.
［8］ Park F C, Kim J W. Singularity aanlysis of closed kinematic chains［J］. Journal of Mechanical Design 1999, 121: 3238.
［9］Gao Feng, Liu Xinjun, Gruver W A. Performance evaluation of TwoDegreeofFreedom planar parallel robots［J］. Mechanism and Machine Theory, 1998, 33: 661668
［10］ Liu Xinjun, Wang Jinsong, Günter P. Kinematics, singularity and workspace of planar 5R symmetrical parallel mechanisms［J］. Mechanism and Machine Theory, 2006, 41: 145169.
［11］ Alici G, Shirinzadeh B. Optimum force balancing with mass distribution and a single elastic
element for a fivebar paralle manipulator［C］//In IEEE Int.Conf.on Robotics and Automation. Taipei, 2003: 36663671.
［12］ Liu Xinjun, Wang Jinsong, Günter Pritschow. On the optimal kinematic design of the PRRRP 2DOF parallel mechanism［J］. Mechanism and Machine Theory, 2006, 41: 11111130.
［13］ Mircea B, Constantinos M. Workspace optimization of 3legged UPU and UPS parallel platforms with joint constraints［J］. ASME J Mech Des, 2004, 126: 291301.

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备注/Memo

备注/Memo:
 收稿日期： 2011-09-19
作者简介： 韩阳(1986-)，男，湖北孝感人，硕士研究生，主要从事机构学及机械动力学的研究。
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