|本期目录/Table of Contents|

[1]柴馨雪,李秦川.3-PRRU并联机构自由度分析[J].浙江理工大学学报,2016,35-36(自科2):192-197.
　CHAI Xinxue,LI Qinchuan.Mobility Analysis of a 3-PRRU Parallel Mechanism[J].Journal of Zhejiang Sci-Tech University,2016,35-36(自科2):192-197.
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3-PRRU并联机构自由度分析()
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浙江理工大学学报[ISSN:1673-3851/CN:33-1338/TS]

卷:
第35-36卷
期数:
2016年自科2期
页码:
192-197
栏目:
出版日期:
2016-03-10

文章信息/Info

Title:
Mobility Analysis of a 3-PRRU Parallel Mechanism
文章编号:
1673-3851 (2016) 02-0192-06
作者:
柴馨雪; 李秦川
浙江理工大学机械与自动控制学院，杭州 310018
Author(s):
CHAI Xinxue;  LI Qinchuan
Faculty of Mechanical Engineering and Automation, Zhejiang Sci-Tech  University, Hangzhou 310018, China
关键词:
并联机构; 自由度分析; 几何代数
分类号:
TP24
文献标志码:
A
摘要:
3-PRRU并联机构具有2个转动和1个移动自由度，是少自由度并联机构中的一个重要分支，具有较大的应用潜力。运用几何代数对3-PRRU并联机构进行自由度分析。首先用几何代数表示了分支和动平台的运动空间；然后通过对分支运动空间求交得到动平台的运动空间，该运动空间的基给出了3-PRRU并联机构自由度的符号表达式。使用几何代数方法所得结果具有几何直观性，且不需要对机构进行约束分析，运算更为简捷。

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期： 2015-12-31
基金项目： 国家自然科学基金项目(51525504)
作者简介： 柴馨雪(1988-)，女，内蒙古赤峰人，博士研究生，主要从事并联机器人方面的研究
通信作者： 李秦川，E-mail：lqchuan@zstu.edu.cn
更新日期/Last Update: 2016-06-01