对称3-PRR并联机构的运动学分析与仿真  

The Kinematic Analysis and Simulation of the Symmetry 3-PRR Parallel Mechanism

作　　者：李凯[1] 张赤斌[1] 

机构地区：[1]东南大学机械工程学院,南京211189

出　　处：《机械科学与技术》2015年第4期518-521,共4页Mechanical Science and Technology for Aerospace Engineering

摘　　要：以对称3-PRR平面并联机构为研究对象,通过矢量分析建立了3-PRR并联机构的运动学模型。采用坐标变换法建立了机构的运动学方程,并对机构的位置正逆解进行了理论求解和Matlab求解,在理论求解机构位置正解时使用了半角公式法。运用Pro/E的Mechanism模块对机构进行了运动学仿真,并将动平台中心点的仿真轨迹与规划的路径进行了比较,验证了建模方法的正确性及机构的可行性。A kinematics model for the symmetric 3-PRR planar parallel mechanism is established. The kinematic equations are derived by using the coordinate transformation method,and the forward and inverse position solutions are solved by the theoretical method and Matlab method. In solving the forward position solutions,half-angle formula method is adopted. The kinematics simulation of the mechanism via Pro / E's Mechanism module is carried out,and the simulation trajectory and path planning of the center of the moving platform are analyzed and compared,which verifies the correctness of the modeling methods and feasibility of institutions.

关 键 词：3-PRR并联机构 运动学模型 位置正逆解 运动学仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]