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Kinematics Analysis of the 3-PRC Three-dimension Transnational Parallel Robot Mechanisms
Author(s): 
Pages: 40-42,83
Year: Issue:  6
Journal: Journal of Mechanical Transmission

Keyword:  并联机构平移运动运动学分析;
Abstract: 讨论了具有三平移自由度的3-PRC并联机器人机构的运动分析.基于机构运动约束方程,得到机构位置逆解的解析表达式;通过对刚体平面运动和点的合成运动分析,建立机构控制构件与动平台速度和加速度关系,并以显函数的形式表示;运动学解形式简单,便于实时控制.
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