一种一平移两转动并联机构的运动学与工作空间分析  

Analysis of the Kinematics and Working Space of a Kind of One Translation and Two Rotation Parallel Mechanism

作　　者：季青 张晓庆[2] 

机构地区：[1]镇江高等职业技术学校,江苏镇江212016 [2]国家知识产权局专利局专利审查协作江苏中心,江苏苏州215009

出　　处：《机械传动》2014年第4期26-30,共5页Journal of Mechanical Transmission

基　　金：国家自然科学基金项目(50905077);高等学校博士学科点专项科研基金(2009327120007);江苏省博士后基金(0901010B)

摘　　要：以1T2R并联机构为研究对象,详细论述了该并联机构机型的特点、数学模型与三维模型的建立、运动位置的正反解计算、运动仿真和结果分析四块内容。首先采用解析法建立空间位置数学模型,分析计算1T2R并联机构的位置正反解;其次,建立1T2R并联机构的虚拟样机模型,并结合ADAMS软件进行运动学位置仿真和MATLAB软件求解理论位置曲线以验证所求位置正反解的正确性;最后,利用位置正反解求解动平台的中心坐标,并利用MATLAB计算1T2R并联机构的运动空间,并进行分析。Taking the 1T2R parallel mechanism as the researching target, a particular description of the characteristic, building of mathematical model and three--dimensional model, positive and re- verse solution calculation of motion position, motion simulation and result analysis of this parallel mechanism are carried out. Firstly, the analytical method is used to build the mathematical model of spatial position to calculate and analyze the positive and reverse solution of thelT2R parallel mecha- nism position. Then, the virtual prototype model is built, the kinematics position simulation is carried out by combining ADAMS software and theoretical position curve is solved MATLAB software to veri- fy the correctness of solved the position positive and reverse solution. Finally, the center coordinates of moving platform is solved by using position positive and reverse solution, and the motion space of thelT2R parallel mechanism is calculated and analyzed by using MATLAB.

关 键 词：并联机构 运动学 虚拟样机 仿真 工作空间 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH112[自动化与计算机技术—控制科学与工程]