3-RPR平面并联机构正解的吴方法  

Forward Solutions of the 3-RPR Planar Parallel Mechanism with Wu's Method

作　　者：刘惠林[1] 张同庄[1] 丁洪生[1] 

机构地区：[1]北京理工大学机械工程与自动化学院,北京100081

出　　处：《北京理工大学学报》2000年第5期565-569,共5页Transactions of Beijing Institute of Technology

基　　金：国家重点基础发展规划 (973)资助项目!(19980 36 0 0)

摘　　要：研究 3- RPR平面并联机构正运动学封闭形式解 .以符号运算为工具 ,应用吴方法得到非线性方程组的特征列 .从而导出 3- RPR平面并联机构正运动学封闭形式解为一元六次方程 .该封闭形式解不仅适用于 3- RPR和 3- RRR平面并联机构 ,也适用于所有包含6R- 级组的 级平面并联机构 .给出具有To study the a closed form solution of forward kinematics of 3 RPR planar parallel mechanism, the symbolic computation was used based on Wu's method. The closed form solution of 3 RPR planar parallel mechanism was obtained. It is a 6 th degree equation in one variable. The closed form solution not only serves the 3 RPR planar parallel mechanism but also suits all planar parallel mechanisms that include 6R Ⅲ groups. Numerical example with six real roots is worked out to illustrate correctness of the results.

关 键 词：并联机构 吴方法 三自由度平面 数学建模 

分 类 号：TH112[机械工程—机械设计及理论]