欠秩并联机器人能连续转动转轴存在的物理条件和数学判据

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摘要本文提出了以约束功率和约束功率变化率同时为零作为约束下刚体能够绕空间固定转轴连续转动的物理条件，并给出了相应的数学判据；讨论了欠秩3-RPS并联平台机器人机构和欠秩3-RPS并联立方角台机器人机构的连续转动转轴和瞬时转轴.

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	赵铁石
	赵永生
	黄真

关键词 ：机器人, 机构学, 运动分析

Abstract：This paper present the physical conditions and mathematical criteria of the existence of axes about which the platform of the deficient-rank parallel robots can rotate continuously. That is the power of constraining force and the rate of that power both are zero simultaneously. The instantaneous and continuous rotating axes of a deficient-rank 3-RPS parallel platform robot and a deficient-rank 3-RPS parallel pyramid robot are discusses.

Key words： Robot parallel mechanism kinematics

收稿日期: 1999-01-12

TP24

基金资助:国家八六三计划；博士点基金

作者简介: 赵铁石（1969- ），男，副教授．研究领域：机器人机构学、仿生机器人等．

引用本文:

赵铁石, 赵永生, 黄真. 欠秩并联机器人能连续转动转轴存在的物理条件和数学判据[J]. 机器人, 1999, 21(5): 347-351.
ZHAO Tie-shi, ZHAO Yong-sheng, HUANG Zhen. PHYSICAL AND MATHEMATICAL CONDITIONS OF EXISTENCE OF AXES ABOUT WHICH PLATFORM OF DEFICIENT-RANK PARALLEL ROBOTS CAN ROTATE CONTINUOUSLY. ROBOT, 1999, 21(5): 347-351.

链接本文:

http://robot.sia.cn/CN/ 或 http://robot.sia.cn/CN/Y1999/V21/I5/347

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