[1]郑亚青,刘雄伟.六自由度绳牵引并联机构的可达工作空间分析[J].华侨大学学报(自然科学版),2002,23(4):393-398.[doi:10.3969/j.issn.1000-5013.2002.04.013]
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六自由度绳牵引并联机构的可达工作空间分析()
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《华侨大学学报(自然科学版)》[ISSN:1000-5013/CN:35-1079/N]

卷:
第23卷
期数:
2002年第4期
页码:
393-398
栏目:
出版日期:
2002-10-20

文章信息/Info

Title:
Controllable Workspace Analysis of a Six-DOF Wire-Driven Parallel Manipulator
文章编号:
1000-5013(2002)04-0393-06
作者:
郑亚青刘雄伟
华侨大学机电及自动化学院, 泉州 362011
关键词:
绳牵引 并联机构 可达工作空间 矢量封闭
分类号:
TH112
DOI:
10.3969/j.issn.1000-5013.2002.04.013
文献标志码:
A
摘要:
提出一种由7根绳牵引的六自由度并联机构,建立其数学模型.对机构进行基于矢量封闭原理的可达工作空间分析,同时采用Monte-Carlo技术在Matlab环境下编程进行仿真,验证所采用分析方法的可行性.仿真结果是可达工作空间的数值近似表示,可通过提高所提取的点数来提高显示精度.

参考文献/References:

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[2] Jeong J W, Kim S H, Kwak Y K. Kinematics and workspace analysis of a parallel wire mechanism for measuring a robot pose [J]. Mechanism and Machine Theory, 1999(6):825-841.
[3] Kawamura S, Choe W, Tanaka S. Development of an ultrahigh speed robot FALCON using wire drive system [J]. Journal of Japanese Society of Robotics, 1997(1):82-89.
[4] Kanamura S, Kino H, Won C. High-speed manpularion by using parallel wire-driven robats [J]. Robotica, 2000.13-21.

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备注/Memo

备注/Memo:
福建省博士后科研项目
更新日期/Last Update: 2014-03-23