3-RPS柔顺并联机构的构型设计及仿真  

The Configuration Design and Simulation of the 3-RPS Parallel Mechanism Compliant

作　　者：李培[1] 周道鸿[1] 

机构地区：[1]蚌埠学院机械与车辆工程系

出　　处：《滁州学院学报》2016年第2期40-43,共4页Journal of Chuzhou University

基　　金：国家自然科学基金项目:基于柔顺机构的智能微操作机器人动力学与控制研究(51265016)

摘　　要：首先根据3-RPS并联机构的结构特点设计3-RPS型柔顺并联机构;其次运用RecurDyn软件仿真出动平台及三条支链的运动形态,并绘制出支链上各个铰链的速度-时间、位移-时间曲线;最后得出结论:每个铰链的速度和位移均随时间变化,并且变化范围均很小,最后趋于稳定,为柔顺并联机构的运动学研究提供帮助。Firstly,according to structural features of the 3-RPS parallel mechanism,3-RPS parallel mechanism compliant is designed.Then the movement patterns of platform and three branches are simulated by RecurDyn,and draw the velocity-time,displacement-time curve of each hinge.Finally the results of simulation show that the speed and time of each hinge changes as time changes,and the scope of change is very small,and finally stabilized,which provides the help on the researches of the kinematics of the compliant parallel mechanism.

关 键 词：并联机构 柔顺并联机构 RECURDYN 

分 类 号：TH12[机械工程—机械设计及理论]