3-PPRS并联机构的运动学及应用研究  

Research of the Kinematics and Application of 3-PPRS Parallel Mechanism

作　　者：蒋红军[1] 李瑞琴[1] 黄剑文[1] 董倩文[1] 刘春林[1] 

机构地区：[1]中北大学机械与动力工程学院,山西太原030051

出　　处：《机械传动》2014年第12期24-27,76,共5页Journal of Mechanical Transmission

基　　金：国家自然科学基金(51275486)

摘　　要：提出了3-PPRS并联机构,并对其自由度进行了分析。采用封闭解法列出约束方程,消元后得到该并联机构正解的单参数高次方程,求得所有位置正解。运用坐标变换法将动平台顶点坐标转换到定坐标系中,根据杆长不变的条件得到约束方程,求解了位置反解。对正反解结果进行数值验证,两计算结果吻合。The 3--PPRS parallel mechanism is proposed and its degree of freedom is analyzed. The constraint equations are listed by using the closed--form solution. A single parametric higher degree e- quation of this parallel mechanism is obtained after elimination. All of the forward solutions are solved. The vertex coordinates on the moving platform are expressed on the fixed coordinate system by coordi- nate transformation method. Based on the constant length of links, the constraint equations are ob- tained, and then the inverse solutions for the mechanism are gotten. The numerical verification is put up to the results of forward and inverse solutions, and their solutions are coincident with each other.

关 键 词：并联机构 位置正反解 封闭解法 

分 类 号：TH112[机械工程—机械设计及理论]