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| Kinematics analysis on forward and inverse model of new-type parallel robot |
| KONG Shu-Ping, NI Yan-Bing, ZHAO Xue-Man, ZHAO Wen-Qi |
| College of Mechanical Engineering, Tianjin University, Tianjin 300072 |
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Abstract This paper formulates the forward and inverse kinematical model of a new type of two freedom parallel robot's location by adopting vector principle. This model can fulfill robot's real time requirement and successfully solves the problems of trajectory control and position display in CNC system. The research results have been successfully applied to the development of a new type parallel robot.
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Published: 28 February 2005
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一种新型并联机械手的正、逆模型分析
结合虚轴机床的结构特点，运用矢量法推导了两平动自由度机械手位置的正、逆解解析模型，满足机械手的实时控制要求，解决了数控系统中轨迹控制和位置显示问题。研究成果已成功地应用于一台新型并联机械手的开发。
关键词：
并联机械手,
位置逆解,
位置正解
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