3-RPR并联机构的工作空间分析  

Workspace Analysis of 3-RPR Parallel Mechanism

作　　者：武振华[1] 

机构地区：[1]山西农业大学信息学院,晋中030800

出　　处：《现代制造技术与装备》2017年第5期60-61,共2页Modern Manufacturing Technology and Equipment

摘　　要：本文以3-RPR并联机构为研究对象,对机构的动平台工作空间进行分析求解,通过运动学方程计算求得机构支链的运动范围,即三条支链工作空间的交集区域为并联机构动平台的工作空间。此外,运用MATLAB软件进行编程,绘制机构的工作空间,最后分析影响机构工作空间的因素。In this paper , 3-RPR parallel mechanism is used asthe object of study. The working space of the moving platform of themechanism is analyzed and solved. The kinematic equation is used tocalculate the range of the branching of the mechanism, that is , theintersection area of the three branch work spaces is the parallelmechanism Moving platform work space. In addition, the use ofMATLAB software programming, drawing the organization＇s work space,and finally analyze the factors that affect the work space of theorganization.

关 键 词：3-RPR机构 MATLAB 工作空间 

分 类 号：TH112[机械工程—机械设计及理论]