对称型平面3-RRR并联机构可达工作空间研究  

Research of the Reachable Workspace of Symmetrical Planar 3-RRR Parallel Mechanism

作　　者：李大海[1] 宋胜涛[1] 李瑞琴[1] 赵建文[1] 赵瑞杰[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》2015年第9期29-31,36,共4页Journal of Mechanical Transmission

基　　金：国家自然科学基金(51275486)

摘　　要：应用闭环矢量法建立了对称型平面3-RRR并联机构的位置正解模型(解析解),针对典型算例(机架为最长杆且连架杆均为曲柄),借助数值法求解,利用Matlab软件绘制了该机构的可达工作空间,并与虚拟样机Solid Works软件的运动仿真结果进行了对比。By using the method of closed vector, the position positive solution model of the symmetrical planar 3 - RRR parallel mechanism is built. Aiming at the typical example （ for the frame is the longest and all the rods connecting frame are cranks）, with the help of the numerical method to solve and the reachable workspace of 3 -RRR parallel mechanism is mapped by using the Matlab, and compared with the result gained by motion simulation of virtual prototype software Solidworks.

关 键 词：3 - RRR 机构 位置正解 可达工作空间 运动仿真 

分 类 号：TH112[机械工程—机械设计及理论]