| 一种二自由度球形五杆并联机构的运动学分析 |
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| 引用本文： | 王冰,王春海,刘凯.一种二自由度球形五杆并联机构的运动学分析[J].华北航天工业学院学报,2004,14(4):8-11. |
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| 作者姓名： | 王冰 王春海 刘凯 |
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| 作者单位： | [1]华北航天工业学院机械工程系，河北廊坊065000 [2]燕山大学信息科学与工程学院，河北秦皇岛066004 |
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| 摘 要： | 应用螺旋理论分析一种二自由度球形五杆并联机构的运动螺旋及其反螺旋，在此基础上分析了其自由度。建立其位置正、反解方程，并进行验证。应用螺旋理论建立了其一阶影响系数矩阵。
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| 关 键 词： | 并联机构 运动螺旋 位置分析 影响系数 |
Kinematics Analysis of a Kind of 2-DOF Five-Bar Spherical Parallel Mechanism |
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| WANG Bing Wang Chun - hai LIU Kai.Kinematics Analysis of a Kind of 2-DOF Five-Bar Spherical Parallel Mechanism[J].Journal of North China Institute of Astronautic Engineering,2004,14(4):8-11. |
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| Authors: | WANG Bing Wang Chun - hai LIU Kai |
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| Abstract: | Based on the screw theory, the kinematics characteristics of a kind of 2 - DOF five - bar spherical parallel mechanism are analyzed including the kinematics screw, reverse screw, degree of freedom, the forward and inverse solution equations and the first order influence coefficient matrix. |
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| Keywords: | parallel mechanism kinematics screw analysis of position influence coefficient |
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