3-RRS球面并联机构的位置解及工作空间研究  

Study on the Position Solution and Workspace of 3-RRS Spherical Parallel Mechanism

作　　者：李大海[1] 李瑞琴[1] 宋胜涛[1] 张盟盟[2] 赵建文[1] Li Dahai Li Ruiqin Song Shengtao Zhang Mengmeng Zhao Jianwen(School of Mechanical and Power Engineering, North University of China, Taiyuan 030051, China School of Mechatronie Engineering, North University of China, Taiyuan 030051, China)

机构地区：[1]中北大学机械与动力工程学院,山西太原030051 [2]中北大学机电工程学院,山西太原030051

出　　处：《机械传动》2016年第10期17-22,93,共7页Journal of Mechanical Transmission

基　　金：国家自然科学基金(51275486)

摘　　要：利用螺旋理论对3-RRS球面并联机构进行了运动分析。利用牛顿迭代法求解了3-RRS球面并联机构的运动学正解,应用闭环矢量法建立了3-RRS球面并联机构的位置逆解模型并推导出了相应的位置逆解算式,得到了3-RRS球面并联机构的8组逆解。实例分析验证了3-RRS球面并联机构位置解的正确性。利用数值搜索法求解了机构的可达工作空间,利用MATLAB编程绘制了机构在不同结构参数下的可达工作空间图,分析了工作空间的变化规律,为3-RRS球面并联机构的应用奠定了基础。The motion analysis of 3 -RRS spherical parallel mechanism is carried out by using the screw theory. The forward kinematics of 3 - RRS spherical parallel mechanism is solved by using Newton iterative method. The inverse kinematics model of 3 -RRS spherical parallel mechanism is established by using closed loop vector method. The corresponding inverse position solution formula is derived. Eight sets of inverse solu- tions are obtained. Through the example analysis, the validity of the position solutions of 3 - RRS spherical parallel mechanism is verified. The reachable workspaces of 3 -RRS spherical parallel mechanism are solved with the help of numerical search method. The reachable workspace diagrams with different structure parameters are drawn by using Matlab software. The variation law of the workapaces is analyzed. The results lay the foundation for the application of 3 - RRS spherical parallel mechanism.

关 键 词：3-RRS球面并联机构 螺旋理论 位置正解 位置逆解 工作空间 

分 类 号：TH112[机械工程—机械设计及理论]