一种新型三平移并联机构运动输出及工作空间分析  

Analysis on Output Motion and Workspace of a Novel Type 3-RCR Parallel Mechanism with Three Translations

作　　者：陈海真[1] 邹忠月[1] 郝秀清[1] 

机构地区：[1]山东理工大学机械工程学院,山东淄博255049

出　　处：《机床与液压》2010年第5期24-26,共3页Machine Tool & Hydraulics

基　　金：山东省自然科学基金资助项目(Y2006G17)

摘　　要：根据螺旋理论分析了新型空间三平移3-RCR并联机构的运动螺旋和约束螺旋,确定了机构的自由度;运用坐标变换法求得机构的位置反解;利用极坐标边界搜索法通过具体算例确定了机构的工作空间及其边界,为该类并联机构的进一步研究和应用提供参考。Motion screw and constraint screw of each branched chain of a novel type 3-RCR spacial parallel mechanism with three translations were analyzed based on screw theory, and DOF of the mechanism was obtained. Inverse positions of the mechanism were got by means of coordinate transformations. The polar coordinates boundary searching algorithm was used to obtain the workspaee and its boundary, which was verified by the numerical example.

关 键 词：并联机构 位置反解 工作空间 

分 类 号：TH112[机械工程—机械设计及理论]