基于ADAMS和MATLAB的3-PPR并联机构运动学分析与仿真  

Kinematics Analysis and Simulation of the 3-PPR Parallel Mechanism Based on ADAMS and MATLAB

作　　者：张军[1] 谢志江[2] 吴小勇[2] 

机构地区：[1]长江师范学院机械与电气工程学院,重庆408100 [2]重庆大学机械传动国家重点实验室,重庆400044

出　　处：《机床与液压》2017年第17期10-14,共5页Machine Tool & Hydraulics

基　　金：国家自然科学基金资助项目(U1530138)

摘　　要：以3-PPR并联机构为研究对象,详细论述了该并联机构的结构形式,采用图解法对机构的工作情况进行了分析,运用欧拉角姿态旋转矩阵和矢量法对该并联机构的位置逆解进行求解。其次,又根据该并联机构本身结构的机械结构几何尺寸特点以及机构在运动过程中尺寸位置之间的关系,对该并联机构的运动学正解进行了求解。最后通过在ADAMS和MATLAB中对该并联机构运动学模型进行联合仿真,将求出的结果进行对比分析。Taking the 3-PPR parallel mechanism as the researching target, a particular description of the structure characteristic is presented. The working conditions of mechanism were analyzed using graphical method. The inverse positions of the parallel mecha- nism were solved using Euler angles attitude rotation matrix and vector method. Secondly, the positive Kinematics was solved according to the mechanical and structural features of the geometry of the structure itself and relationship among the size of the position in parallel mechanism. Finally, the results are compared and analyzed from the ADAMS and MATLAB software co-simulation of the parallel mech- anism kinematics model.

关 键 词：并联机构 矢量法 运动学 联合仿真 

分 类 号：TH112[机械工程—机械设计及理论]