三自由度3-PRS并联机构的运动学解析  

Kinematics Analysis of the 3-PRS Parallel Mechanism

作　　者：陈纯[1] 王庆梁 黄玉美[2] 程祥[3] 

机构地区：[1]陕西理工学院机械工程学院,陕西汉中723000 [2]西安理工大学机械与精密仪器工程学院,陕西西安710048 [3]山东理工大学机械工程学院,山东淄博255049

出　　处：《机械传动》2015年第9期84-88,共5页Journal of Mechanical Transmission

基　　金：陕西教育厅科学研究计划项目(12JK0674);陕西理工学院科技基金

摘　　要：对于并联机构位置正解极其复杂的求解特点,在求得3-PRS并联机构的位置逆解的基础之上,采用转化求解对象法对其位置正解进行了解析,并应用D'Alembert原理求解了被动关节的速度和加速度,避免了空间机构直接求导法的复杂性。通过对3-PRS并联机构进行实例分析,结果表明,转化求解对象法求解并联机构位置正解的方法简单而有效。同时指出了3-PRS并联机构中除3个主运动之外,还存在派生运动,该运动在3-PRS并联机构的实际应用中必须予以考虑。For the reason that the position solution of a parallel mechanism is hard to be solved directly, the solution of positive position are parsed by the method of transformation to solve object location based on the solved inverse position solution in the 3 - PRS parallel mechanism, and the velocity and acceleration of the passive joints are obtained by the D^Alembert principle, which can avoid the complexity of the direct derivation on the spatial mechanism. Through the analysis of an actual 3 - PRS parallel mechanism instance, the results show that the method of objects transformation is simple and effective for solving the position positive solution of the parallel mechanism. At the same time, it is pointed out that the derived movements also exist besides the main three motions of 3 -PRS parallel mechanism, this reveals that the derived kinematics must be taken into account in actual usage.

关 键 词：3 - PRS 并联机构 转化求解对象法 位置正解 D'Alembert 原理 派生运动 

分 类 号：TH112[机械工程—机械设计及理论]