基于影响系数3-RPS并联机构运动学分析与仿真  

Kinematics Analysis and Simulation of 3-RPS Parallel Mechanism based on the Influence Coefficient

作　　者：朱大昌[1] 冯文结 刘运鸿 

机构地区：[1]江西理工大学机电工程学院,江西赣州341000

出　　处：《机械传动》2014年第3期76-79,共4页Journal of Mechanical Transmission

基　　金：国家自然科学基金项目(51165009);江西省自然科学基金项目(20114BAB206008)

摘　　要：利用环路方程法推导了3-RPS三自由度并联机构的一阶、二阶影响系数表达式。在3-RPS并联机构的一阶、二阶影响系数的基础上,研究了其运动学逆解问题。建立基于影响系数的运动学模型,运用Matlab软件进行了并联机构运动学仿真,分析驱动位移、速度和加速度曲线,得出3-RPS并联机构一阶、二阶影响系数的特性,其一阶、二阶运动影响系数与原动件运动无关,只与其运动学尺寸、类型和位置有关。First and second order influence coefficient expressions of 3--RPS parallel mechanism are de- duced by using the loop equation method. Based on the first and second order influence coefficient, the inverse kinematics problem is researched. The kinematics model of 3--RPS parallel mechanism is built based on the influence coefficient. The model is simulated by using Matlab. The characteristics of first and second order in- fluence coefficient are obtained by analyzing drive displacement, velocity and acceleration curve. The first and second order influence coefficients of 3--RPS parallel mechanism are independence to the motion of driving link and only relate to its kinematic size, type and location.

关 键 词：3-RPS并联机构 一阶影响系数 二阶影响系数 运动学特性 

分 类 号：TH112[机械工程—机械设计及理论]