淡江大學機構典藏:Item 987654321/7292
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    Please use this identifier to cite or link to this item: https://tkuir.lib.tku.edu.tw/dspace/handle/987654321/7292


    Title: HexaSlide類型並聯式機械手臂之正向位置分析
    Other Titles: Forward Position Analysis of HexaSlide Type Parallel Manipulators
    Authors: 劉昭華
    Contributors: 淡江大學機械與機電工程學系
    Keywords: 並聯式機械手臂;HexaSlide;正向位置分析;正向運動學;機構運動學
    Date: 2006
    Issue Date: 2009-03-16 15:54:51 (UTC+8)
    Abstract: 本研究計畫是針對六自由度並聯式機械手臂HexaSlide，期望解出其正向位置分析的解析解。 HexaSlide 機械手臂可以有幾種形式：Hexaglide、HexaM、或Linapod，本研究計畫所建議的分析方法 可以使用在以上任何形式的機械手臂，並求出的正向位置分析的解析解。方法是首先找出機械手臂的 等效機構(equivalent mechanism)，亦即傾斜的3RS 並聯式手臂，然後再找出此等效機構正向位置分析 的多項式方程組，並利用席維斯透析消去法(Sylvester dialytic elimination method)解出活動平台位置。
    Appears in Collections:[Graduate Institute & Department of Mechanical and Electro-Mechanical Engineering] Research Paper

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