Movement Implementation of 2-DOF Controllable Closed-chain Linkage Mechanism System

China Mechanical Engineering ›› 2013, Vol. 24 ›› Issue (5): 569-572.

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Movement Implementation of 2-DOF Controllable Closed-chain Linkage Mechanism System

Wang Rugui1;Shi Guanglin2;Cai Ganwei1;Zhou Xiaorong1

1.Guangxi University,Nanning,530004
2.Guangxi University of Technology,Liuzhou,Guangxi,545006

Online:2013-03-10 Published:2013-03-19
Supported by:

National Natural Science Foundation of China（No. 51265003）;
Science and Technology Research Key Program of Ministry of Education of China（No. 212133）

两自由度可控闭链机构系统运动实施

王汝贵1;石光林2;蔡敢为1;周晓蓉1

1. 广西大学，南宁，530004
2.广西工学院，柳州，545006

基金资助:
国家自然科学基金资助项目(51265003)；教育部科学技术研究重点项目(212133)；广西车辆零部件先进设计制造重点实验室开放基金资助项目(2012KFMS07)
National Natural Science Foundation of China（No. 51265003）;
Science and Technology Research Key Program of Ministry of Education of China（No. 212133）

Abstract

Abstract:

A 2-DOF controllable closed-chain linkage mechanism system was investigated herein. The kinematics analysis of the linkage mechanism was done, and the implementation method under given trajectory in its workspace was studied. The coordinated motion control hardware architecture principles of such kinds of linkage mechanism system were given with the applications of linkage mechanism on engineering machinery as example. The study provides basis for motion control software architecture, and is useful for dynamics analysis, vibration control and the generalized applications on engineering of such kinds of linkage mechanism.

Key words: 2-DOF, controllable closed-chain linkage mechanism, kinematics analysis, hardware architecture

摘要：

以两自由度可控闭链机构系统为研究对象，对此类机构的运动进行了分析，研究了机构在其运动空间内给定轨迹的实现方法，并以此类机构在工程机械中的应用为实例，给出了此类机构系统运动实施的协调运动控制硬件架构原理，为此类机构的运动控制软件架构提供基础。研究结果对此类机构的动力学分析、振动控制及其在工程中的推广应用具有实际意义。

关键词: 两自由度, 可控闭链机构, 运动分析, 硬件架构

CLC Number:

TH113.2

WANG Ru-Gui-1, DAN Guang-Lin-2, CA Gan-Wei-1, ZHOU Xiao-Rong-1. Movement Implementation of 2-DOF Controllable Closed-chain Linkage Mechanism System[J]. China Mechanical Engineering, 2013, 24(5): 569-572.

王汝贵1, 石光林2, 蔡敢为1, 周晓蓉1. 两自由度可控闭链机构系统运动实施[J]. 中国机械工程, 2013, 24(5): 569-572.

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Movement Implementation of 2-DOF Controllable Closed-chain Linkage Mechanism System

两自由度可控闭链机构系统运动实施

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