一种新型三自由度索驱动风洞机构的运动学分析

IF 1.4 Q4 ROBOTICS

Journal of Robotics Pub Date : 2010-08-05 DOI:10.1155/2010/609391

Yao Yu, Wu Hongtao

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引用次数: 1

摘要

提出了一种基于索驱动并联机构的新型三自由度风洞机构的运动学分析方法。本文采用Rodrigues参数来表示线驱动机构的变换矩阵。基于并联机构的基本理论，将解析正运动学模型描述为三个罗德里格斯参数的三个二次方程。采用消元法消去其中两个变量，得到一个单变量的八阶多项式。由方程可以得到正运动学问题的八组罗德里格斯参数和相应的欧拉角。最后，给出了正解和逆解的数值算例，对所提出的正解方法进行了验证。数值结果表明，该方法对该机构的位置分析是有效的。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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The Kinematics Analysis of a Novel 3-DOF Cable-Driven Wind TunnelMechanism

The kinematics analysis method of a novel 3-DOF wind tunnel mechanism based on cable-driven parallel mechanism is provided. Rodrigues' parameters are applied to express the transformation matrix of the wire-driven mechanism in the paper. The analytical forward kinematics model is described as three quadratic equations using three Rodridgues' parameters based on the fundamental theory of parallel mechanism. Elimination method is used to remove two of the variables, so that an eighth-order polynomial with one variable is derived. From the equation, the eight sets of Rodridgues' parameters and corresponding Euler angles for the forward kinematical problem can be obtained. In the end, numerical example of both forward and inverse kinematics is included to demonstrate the presented forward-kinematics solution method. The numerical results show that the method for the position analysis of this mechanism is effective.

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来源期刊

Journal of Robotics ROBOTICS-

CiteScore

3.70

自引率

5.60%

发文量

审稿时长

22 weeks

期刊介绍： Journal of Robotics publishes papers on all aspects automated mechanical devices, from their design and fabrication, to their testing and practical implementation. The journal welcomes submissions from the associated fields of materials science, electrical and computer engineering, and machine learning and artificial intelligence, that contribute towards advances in the technology and understanding of robotic systems.