对称4-URU并联机构的运动性能分析

Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence Pub Date : 2019-09-20 DOI:10.1145/3366194.3366224

Qiangqiang Zhang, Yong-xiu Xu, Fei Dong, Yan Wang

{"title":"对称4-URU并联机构的运动性能分析","authors":"Qiangqiang Zhang, Yong-xiu Xu, Fei Dong, Yan Wang","doi":"10.1145/3366194.3366224","DOIUrl":null,"url":null,"abstract":"After verifying the degrees of freedom (DOF) of the symmetrical 4-URU parallel mechanism based on the screw theory, the forward and inverse position models of the mechanism are solved. The workspace is then obtained by the boundary search algorithm. The singularity of the mechanism is solved. The above analyses and results can provide references for mechanism mechanics analysis, structure design and prototype development.","PeriodicalId":105852,"journal":{"name":"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2019-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Kinematic Performance Analyses of a Symmetrical 4-URU Parallel Mechanism\",\"authors\":\"Qiangqiang Zhang, Yong-xiu Xu, Fei Dong, Yan Wang\",\"doi\":\"10.1145/3366194.3366224\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"After verifying the degrees of freedom (DOF) of the symmetrical 4-URU parallel mechanism based on the screw theory, the forward and inverse position models of the mechanism are solved. The workspace is then obtained by the boundary search algorithm. The singularity of the mechanism is solved. The above analyses and results can provide references for mechanism mechanics analysis, structure design and prototype development.\",\"PeriodicalId\":105852,\"journal\":{\"name\":\"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2019-09-20\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1145/3366194.3366224\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1145/3366194.3366224","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 0

摘要

基于螺旋理论对对称4-URU并联机构的自由度进行验证后，求解了该机构的正、逆位置模型。然后通过边界搜索算法获得工作空间。解决了机构的奇异性问题。以上分析结果可为机构力学分析、结构设计和样机研制提供参考。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Kinematic Performance Analyses of a Symmetrical 4-URU Parallel Mechanism

After verifying the degrees of freedom (DOF) of the symmetrical 4-URU parallel mechanism based on the screw theory, the forward and inverse position models of the mechanism are solved. The workspace is then obtained by the boundary search algorithm. The singularity of the mechanism is solved. The above analyses and results can provide references for mechanism mechanics analysis, structure design and prototype development.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence

自引率

0.00%

发文量