3-RPS机构动平台位置的实解分析  

Analysis for the Position's Real Solution of the 3-RPS Mechanism's Moving-platform

作　　者：宋欣[1] 

机构地区：[1]哈尔滨理工大学机械动力工程学院,黑龙江哈尔滨150080

出　　处：《哈尔滨理工大学学报》2004年第4期93-96,共4页Journal of Harbin University of Science and Technology

摘　　要：在3-RPS并联平台机构动平台位置反解方程的基础上,根据机构的几何约束、运动学约束、方向余弦矩阵特性等约束条件,推出了机构动平台位置实解方程,并论述了机构结构参数对机构工作空间及动平台位姿的影响。The paper is based on the position's inverse-solution equations of 3-RPS planar parallel mechanism's moving-platform, and according to some restrictions such as the geometric characters, the kinematics characters and the orientation-cosine-matrix's characters, the position's real-solution equations are derived, and the paper presents an example to discuss the influence on the mechanism's workspace and moving-platform's pose worked by the structure parameter.

关 键 词：3-RPS 并联平台机构 位置实解 几何参数影响 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]