# [1]钱瑞明.六自由度3-RRRS并联机器人机构位姿正逆解[J].东南大学学报(自然科学版),2000,30(5):56-60.[doi:10.3969/j.issn.1001-0505.2000.05.013] 　Qian Ruiming.Forward and Inverse Position/Orientation Analysis of 6-DOF 3-RRRS Parallel Manipulators[J].Journal of Southeast University (Natural Science Edition),2000,30(5):56-60.[doi:10.3969/j.issn.1001-0505.2000.05.013] 点击复制 六自由度3-RRRS并联机器人机构位姿正逆解() 分享到： var jiathis_config = { data_track_clickback: true };

30

2000年第5期

56-60

2000-09-20

## 文章信息/Info

Title:
Forward and Inverse Position/Orientation Analysis of 6-DOF 3-RRRS Parallel Manipulators

Author(s):
Qian Ruiming
Department of Mechanical Engineering, Southeast University, Nanjing 210096

Keywords:

TP242
DOI:
10.3969/j.issn.1001-0505.2000.05.013

Abstract:
This paper presents a 3-RRRS parallel manipulator with six degrees of freedom and formulates its analytic expressions of forward and inverse position/orientation solutions. There are four solutions for forward position/orientation analysis and eight solutions for inverse position/orientation analysis.

## 参考文献/References:

[1] 李兵,王知行,李建生.基于凯恩方程的新型并联机床动力学研究.机械科学与技术,1999,18(1):41～43
[2] Stewart D.A platform with six degree of freedom.Proceedings of the Institute of Mechanical Engineering,1965:371～386
[3] 摩雷R,李泽湘,萨思特里S著.机器人操作的数学导论.徐卫良,钱瑞明译.北京:机械工业出版社,1998.87～96
[4] 钱瑞明.并联机器人位置空间分析的几何法.东南大学学报,1996,26(1):63～67
[5] 孔宪文,郑永志,陆卫杰.用连续法进行6-SPS并联机器人机构的位置正解.机械科学与技术,1998,17(6):878～880
[6] 韩林,廖启征,梁崇高.5-5台体型并联机械手位置正解分析.机械科学与技术,1998,17(2):250～254

## 相似文献/References:

[1]钱瑞明.并联机器人位置空间分析的几何法[J].东南大学学报(自然科学版),1996,26(1):63.[doi:10.3969/j.issn.1001-0505.1996.01.012]
Qian Ruiming.Geometric Method for Determining the Positioning Workspace of Parallel Manipulators[J].Journal of Southeast University (Natural Science Edition),1996,26(5):63.[doi:10.3969/j.issn.1001-0505.1996.01.012]
[2]孙黎霞,宋洪刚,高丙团,等.仿生柔性并联机器人的逆运动学与优化设计[J].东南大学学报(自然科学版),2013,43(4):736.[doi:10.3969/j.issn.1001-0505.2013.04.012]
Sun Lixia,Song Honggang,Gao Bingtuan,et al.Inverse kinematics and optimal design of bio-inspired flexible parallel robot[J].Journal of Southeast University (Natural Science Edition),2013,43(5):736.[doi:10.3969/j.issn.1001-0505.2013.04.012]