一种3-CRR三维平移正交并联机构的运动学分析  

Kinematics analysis on a kind of 3-CRR 3D translation and orthogonal parallel mechanism

作　　者：车林仙[1] 黄勇刚[2] 黄茂林[2] 

机构地区：[1]泸州职业技术学院机电工程研究所,四川泸州646005 [2]重庆大学机械工程学院,重庆400044

出　　处：《机械设计》2009年第6期45-48,共4页Journal of Machine Design

基　　金：国家自然科学基金资助项目(50075087);四川省应用基础研究计划资助项目(JY0163);泸州市重点科技计划资助项目(2008-S1-17);四川省精品课程建设项目(08-359-174)

摘　　要：分析了以转动输入为主驱动时的3-C∥R∥R三维平移正交并联机构的运动学问题。根据杆长约束条件,建立约束方程,给出了完全封闭形式的位置反解。应用Sylvester消元法推导出了位置正解的一元八次方程,确定了其全部8组位置正解,推导了速度和加速度分析的解析表达式。用数值实例验证了位置正反解结果的正确性,应用ADAMS软件对机构进行了运动学仿真,结果与理论分析一致。研究结果与结论为该机构的设计及实用化提供了理论依据。Kinematics problems of 3-C//R//R 3 D translation orthogonal parallel mechanism was analyzed when it takes the rotation input as the main drive. According to the constraint condition of rod length, the constraint equation was established, and the complete close formed positional reverse solution was presented. The oetavalent equation with one unknown of the positional forward solution was derived by applying the Sylvester elimination method. The kinematics simulation has been carried out on the mechanism by the use of ADAMS software; its result was identical with the the- oretieal analysis. The result and conclusion of research provided theoretical basis for the design and practicality of this mechanism.

关 键 词：并联机构 位置分析 速度分析 加速度分析 

分 类 号：TH122[机械工程—机械设计及理论]