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新的封闭式并联迷你机器人的直接运动学正解

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中文翻译
新的封闭式并联迷你机器人的直接运动学正解(中文2800字,英文呢1600字)
近年来,许多研究人员已经对并联式迷你机器人表现出了极大的兴趣。这种结构在精度、刚度、载荷重量比和载荷分布方面比那些所占空间更大的更适合。
著名的斯图尔特平台(斯图尔特,1965)可能是第一个已经记录在文献中的六自由度(六度)并联机构。它是由六个独立的肢体将一个移动平台和一个地基连接而成。许多研究者认为斯图尔特平台可以当作一个机器人机械臂(例如,菲克特•麦克道威尔,1980年,亨特,1983年,杨振宁与李政道,1984年,菲克特,1986)。其他类型的六自由度并联机构已在文献中被引入和研究(例如,Kohli等人,1988;哈金斯和特萨,1988;蔡和塔玛塞比,1991a)。

外文资料
Closed-Form Direct Kinematics Solution of a New Parallel Minimanipulator
In recent years,many researchers have shown a great deal of interest in studying parallel manipulators.Such mechanisms are most suitable for applications in which the requirements for accuracy,rigidity,load-to-weight ratio,and load distribution are more important thanthe need for a large workspace.
The famous Stewart platform(Stewart,1965) is probably the first six-degree-of-freedom(six-DOF) parallel mechanism which has been studied in the literature.It consists of a moving platform and a base which are connected by means of six independent limbs.Many researchers have considered the Stewart platform as a robot manipulator(e.g.,Fichter and MacDowell,1980;Hunt,1983;Yang and Lee,1984;Fichter,1986).Other types of six-DOF parallel manipulators have been introduced and studied in literature(e.g.,Kohli et al.,1988;Hudgens and Tesar,1988;Tsai and Tahmasebi,1991a).

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