3-PRS并联机构运动分析及仿真  

Kinematics analysis & simulation for 3-PRS parallel mechanism

作　　者：刘宏伟[1] 马质璞 

机构地区：[1]南阳理工学院机电系,南阳473004 [2]南阳农业学校,南阳473004

出　　处：《机械设计与制造》2012年第1期211-213,共3页Machinery Design & Manufacture

基　　金：南阳理工学院科研基金(2008-03)

摘　　要：介绍了一种3-PRS空间并联机构,在用螺旋理论对该机构进行运动分析的基础上,用UG构建了该机构虚拟样机并导入ADAMS软件对其进行运动学仿真,利用ADAMS强大的运动仿真、函数、测量及后处理功能,验证了该并联机构是一个全对称的空间三自由度并联机构,动平台可以实现绕X轴、Y轴方向的转动及沿Z向的平动,与螺旋理论运动分析结果完全一致,为将来的原型样机设计、控制等研究工作提供了相关的参考依据。A kind of 3-PRS spatial parallel mechanism is introduced.Through kinematic analyzing the mechanism using screw theory,a 3D virtual prototype modeling of this mechanism is constructed with UG and kinematics simulation is carried out by importing software ADAMS.With strong function of ADAMS in kinematic simulation,function,measurement and post processing,the mechanism is verified to be a fullsymmetric parallel mechanism with spatial 3 PRS,which mobile platform can rotate around X axial,Y axialand move along Z axial,which result is coincident with kinematic analysis of screw theory and provide relative reference for the study of prototype design and control in the near future.

关 键 词：螺旋理论 并联机构 运动仿真 

分 类 号：TH12[机械工程—机械设计及理论]