三自由度Delta并联机器人运动学分析及工作空间求解(2)

KinematicAnalysisandWorkspaceof3-DofDeltaParallelRobot

LIANGXiang-ning,NIUZh-igang

(CollegeofMechanicalEngineeringofTUT,Taiyuan030024,China)

Abstract:Thispaperintroducesthesolutionofforwardpositionandinversepositionof3-dofdeltaparallelrobot,establishesproperkinematicalmodel.Thekinematicequationof3-dofdeltaparallelrobotwassetupbasedontherelationofthevectorbetweenthemovingplatformandthebaseplatform.Thentheformulationofinversesolutionandthenumericalsolutionofdirectsolu-tionareobtained,thecorrectnessisverifiedbycombiningexamples.Onthebasisofinversepos-ition,amethodofworkplaceisputforward.

Keywords:Deltarobot;kinematics;forwardsolution;inversesolution;workplace

(编辑:庞富祥)

(上接第92页)

TheApplicationofMult-isensorInformationFusion

TechniqueonHydraulicMachineryFaultDiagnosisSystem

CHENFa-fa,CHENGHang,YANGYong

(InstituteofMechatronicsofTUT,Taiyuan030024,China)

Abstract:Tocopewithsomeproblemsoftraditionalhydraulicmachineryfaultdiagnosis,ad-iagrammodelofhydraulicmachineryfaultdiagnosisbasedoninformationfusiontechnologyispresented.Thismodelcanfuseandcalculateseveralparameterswhichcontainthefaultfeature.Thelevelandmethodofmult-isensorinformationfusionarepresentedindetail.Itsprincipleand

functioninthehydraulicmachineryfaultdiagnosissystemarealsodiscussed.Theconclusioni-llustratesthismethodprovidesmorevaluableresultforhydraulicmachineryfaultdiagnosis.

Keywords:mult-isensor;informationfusion;hydraulicmachine;faultdiagnosis

(编辑:庞富祥)