双并联机构耦合连续体机械臂的设计与实现

吴灌伦, 施光林

Design and Realization of Continuum Manipulator Based on Coupling of Double Parallel Mechanism

WU Guanlun, SHI Guanglin

表5 理想目标位置和测量位置坐标值对比

Tab.5 Comparison of desired points and measuring points

目标点 x/mm 目标点 z/mm 坐标版 x/mm 坐标版 z/mm 距离 D/mm 486.2 -406.5 480.5 -406.6 5.7 449.2 -582.9 447.5 -585.6 3.2 375.4 -590.0 378.9 -600.2 10.8 414.5 -390.5 422.8 -387.3 8.9 336.2 -390.1 342.5 -402.6 14.0