本文選題：-RRRS機(jī)構(gòu) + 冗余驅(qū)動(dòng)�。� 參考：《機(jī)械傳動(dòng)》2016年07期

【摘要】：在動(dòng)靜平臺(tái)之間采用3-RRRS機(jī)構(gòu)連接,能夠?qū)崿F(xiàn)動(dòng)平臺(tái)相對(duì)于靜平臺(tái)的6維位姿變化。將S副釋放,該機(jī)構(gòu)構(gòu)型可以用于爬行類仿生機(jī)器人的通用結(jié)構(gòu)。該類機(jī)構(gòu)構(gòu)型由于具有冗余驅(qū)動(dòng)的特征,能夠改良動(dòng)平臺(tái)的運(yùn)動(dòng)性能與工作空間,本文對(duì)其正運(yùn)動(dòng)學(xué)問(wèn)題進(jìn)行研究。首先根據(jù)結(jié)構(gòu)關(guān)系,建立包含冗余驅(qū)動(dòng)變量的運(yùn)動(dòng)方程。然后通過(guò)Bezout方程及變量代換等,求解冗余驅(qū)動(dòng)變量。最后,給出了動(dòng)平臺(tái)方向矩陣及運(yùn)動(dòng)軌跡的計(jì)算模型,并以算例進(jìn)行了說(shuō)明。本文的研究為同類問(wèn)題的求解提供了參考。
[Abstract]:The 3-RRRS mechanism is used to connect the dynamic and static platforms, which can realize the six dimensional position and pose change of the moving platform relative to the static platform.The S-by-release mechanism can be used in the general structure of reptile bionic robot.Because of its redundant driving characteristics, this kind of mechanism can improve the kinematic performance and workspace of the moving platform. In this paper, the forward kinematics of this kind of mechanism is studied.First, according to the structure relation, the motion equation including redundant driving variables is established.Then the redundant driving variables are solved by Bezout equation and variable substitution.Finally, the calculation model of moving platform direction matrix and motion track is given, and an example is given to illustrate it.The research in this paper provides a reference for solving similar problems.
【作者單位】： 黃河水利職業(yè)技術(shù)學(xué)院;黃河科技學(xué)院職業(yè)技術(shù)學(xué)院;鄭州輕工業(yè)學(xué)院機(jī)電工程學(xué)院;
【基金】：河南省高�？萍紕�(chuàng)新團(tuán)隊(duì)支持計(jì)劃(2012IRTSTHN013) 河南省重點(diǎn)科技攻關(guān)項(xiàng)目(152102210145)
【分類號(hào)】：TH112

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