Combining the advantages of parallel mechanism and serialmechanism,a new hybrid mechanism was designed.It was built in series by the 3UPU parallel mechanism and two degree of freedom (2DOF) rotating mechanism.The freedom of it was analyzed and the forwardsolutions of its position were analyzed step by step.By use of a closed solution, the 3UPU parallel mechanism was analyzed to obtain the forward position of 3UPU parallel mechanism. By use of the coordinate transformation,the change off or ward solution of position of the 3UPU parallel mechanism was analyzed under the functional role of 2DOF rotating mechanism. Final results are obtained for the hybrid mechanism of forward solution of position.
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李旭,武建德,李瑞琴,王鹏,李少峰.一种新型混联机构的设计与位置分析[J].机床与液压,2017,45(9):5-7. . Design and Position Analysis of a New Hybrid Mechanism[J]. Machine Tool & Hydraulics,2017,45(9):5-7