PRS-XY混联机构实验平台的运动学分析  

Kinematics analysis of a PRS-XY hybrid NC equipment

作　　者：罗奕[1] 张建民[1] 周鸿斌[1] 

机构地区：[1]北京理工大学机械与车辆工程学院,北京100081

出　　处：《机械研究与应用》2005年第2期41-43,共3页Mechanical Research & Application

摘　　要：提出串并联结合的PRS-XY型混联结构。该结构含有3自由度的PRS并联机构和一个X-Y工作台,能实现3个方向的平动与两个转动。对PRS-XY型混联结构进行了运动学分析,建立了正、逆运动学模型,并对其进行了数值解析,验证了该模型的正确性。This paper presents research works dedicated to kinematics analysis of a PRS-XY hybrid NC equipment including a parallel structure and an X-Y table. It can produce three translations and two rotations circling two axes. Direct kinematics model and inverse kinematics model have been made. The kinematics models were proved to be correct by numerical analysis validation.

关 键 词：混联机构 运动学模型 数值解析 

分 类 号：TH113.2[机械工程—机械设计及理论]