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Application of Restraining Mechanism on Designing Parallel Wire-Driven Robot

By 张波, 王洪光 and 赵明扬


柔索并联机构是一类新型的机构 ,具有一些优于其他机构的特点 ,但因柔索特性的限制 ,可实现的运动形式较少。本文通过增加约束机构对运动平台运动进行限制 ,扩大了柔索并联机构的应用范围。文章提出约束机构的概念 ,讨论了约束机构的种类 ,并进行奇异位形的分析

Topics: 柔索驱动, 并联机构, 约束机构
Year: 2004
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