3支链6自由度并联机构位置分析  

Position analysis on parallel mechanism with 3 branch chains and 6 DOF

作　　者：运红丽[1] 高峰[2] 王冰[3] 

机构地区：[1]华北水利水电学院机械系,河南郑州450011 [2]上海交通大学机械与动力工程学院,上海200030 [3]燕山大学机械工程学院,河北秦皇岛066004

出　　处：《机械设计》2006年第7期57-60,共4页Journal of Machine Design

摘　　要：提出一种新型的3支链6自由度并联机构,并对其进行位置正解和反解分析。首先利用三角平台型并联机构的位置正解方法,分析该机构的位置正解,得到位置正解的封闭方程,其次用解析法对机构进行位置反解分析,得到封闭的位置反解方程,并给出数值实例,绘制了机构的工作空间形状。A kind of new typed parallel mechanism with 3 branch chains and 6 DOF was put forward, and an analysis has been carried out on forward and inverse solutions of its positions. Firstly, using the forward solution method of positions to analyze the forward solution of positions of this mechanism, and obtained the closed equation of forward solution of positions, and then to carry out inverse solution of positions on the mechanism by applying the analytic method. The closed equation of inverse solution of positions was obtained, and a numerical living example was presented, and the shape of working space of the mechanism was plotted.

关 键 词：并联机构 位置正解 位置反解 

分 类 号：TH112[机械工程—机械设计及理论]