摘要
由一名新闻记者兼机器人与机器学习每日新闻编辑-调查人员讨论机器人学的新发现。根据NewsRx记者来自工程学院的新闻报道，研究表明："由于并联机构(PMs)具有良好的刚度、精度和动态特性，最近发明了大量的PM。"国家自然科学基金资助本研究。记者从工程学院的研究中得到一句话：“发现有几种性能优异的机构，其中一种是两转一平移(2R1T)PM，现有2R1T PM的研究表明，这种机构具有优异的转动性能和良好的平动工作空间，已有2R1T种性能优良的机构被提出。”本文在现有2R1T机构的基础上,提出并分析了一种新的2R1T机构2UPR-PRS,该机构将3PRS和2UPR-SPR的PRS链和UPR链分别组合在一起,从而实现了对PRS和UPR链的有效控制。将PRS链提供的高刚度和两条对称U型PR链的可变转动特性集成到2UPR-PRS机构中。
Abstract
By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News – Investigators discuss new findings in robotics. According to news reporting originating from the College of Engineerin g by NewsRx correspondents, research stated, “Since parallel mechanisms (PMs) ha ve good stiffness, accuracy, and dynamic characteristics, a large number of PMs have been invented recently.” Financial supporters for this research include National Natural Science Foundati on of China. Our news correspondents obtained a quote from the research from College of Engin eering: “A few kinds of them are found to have excellent performances, and one k ind is two-rotational and one-translational (2R1T) PM. The existing research on 2R1T PMs shows that this kind of mechanism has outstanding rotational properties and a well-translational workspace. Many 2R1T mechanisms with good performances have been proposed, among which the typical ones are 3PRS, 2UPR-SPR, and 3UPS-U P. Based upon the existing 2R1T mechanisms, a new 2R1T mechanism, 2UPR-PRS, is p roposed and analyzed in this paper, which combines PRS and UPR chains, respectiv ely, from 3PRS and 2UPR-SPR together. In this way, the high stiffness provided b y the PRS chain and the variable rotational characteristics from two symmetric U PR chains are integrated into the proposed 2UPR-PRS mechanism. First, the concep tual design of this mechanism is carried out.”
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