一种3-RPPS六自由度并联机构运动学分析与仿真  

Kinematics Analysis and Simulation of One 3-RPPS 6-DOF Parallel Manipulator

作　　者：李文星[1] 贾蒙[1] 

机构地区：[1]新乡学院机械工程学院,河南新乡453003

出　　处：《机床与液压》2014年第21期94-96,108,共4页Machine Tool & Hydraulics

摘　　要：提出了一种新型六自由度3-RPPS并联机构,并介绍了其解耦特性和参考坐标系。建立了机构的运动学模型,得到机构运动学的位姿和速度解析表达式;采用极坐标边界搜索法求解机构的工作空间并计算工作空间的体积。通过数值仿真,得到了给定动平台运动规律下,支链的长度和速度变化规律以及机构的定姿态位置工作空间和定位置姿态工作空间,并优化得到工作空间体积最大时结构参数的取值范围。A novel 3-RPPS parallel manipulator with 6-DOF was proposed. Its decoupling characteristics and the reference coor-dinate system of the manipulator were introduced. By establishing the kinematics model of the manipulator,the analytic formulae for solving the kinematics posture and the velocity of the manipulator were derived. By using polar coordinate boundary searching method, the workspace of the manipulator was solved and its volume was calculated. According to the designed trajectories of the moving plat-form,the rules of changes in lengths and velocities of the driving legs,and the position workspace with a given orientation and the ori-entation workspace with a given position of the manipulator were obtained by numerical simulations. Moreover,the range of assumed structure parameters with maximum workspace volume is obtained with optimization.

关 键 词：并联机构 解耦特性 运动学 工作空间 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]