3-UPRR并联机构的位置逆解及工作空间分析  

Position Inverse Solution and Kinematic Performance Analysis of 3-UPRR Parallel Mechanism

作　　者：王鹏[1] 武建德[1] 李少峰 李旭 

机构地区：[1]中北大学机械工程学院,太原030051

出　　处：《煤矿机械》2017年第12期53-56,共4页Coal Mine Machinery

基　　金：国家自然科学基金资助项目(51275486)

摘　　要：介绍了一种空间并联机构3-UPRR。基于螺旋理论对机构进行自由度分析,确定机构可以实现三维平动。采用解析矢量法建立了并联机构的位置方程,解出其位置逆解,确定了驱动杆与动平台之间的位置关系。利用数值搜索法,搜索出了机构的工作空间。最后,利用MATLAB软件对逆解方程进行求解,并运用ADAMS软件进行仿真验算,验证了建立逆解模型的正确性和机构的可行性。Introduces a spatial parallel mechanism 3-UPRR. The degrees of freedom is analyzed by using the screw theory,this mechanism can achieve three-dimensional translation. The position equation of the parallel mechanism is established by using the analytical vector method. Then,the inverse solution of position analysis is solved,so the position relationship between the actuating arm and the moving platform is determined. Using the numerical search method,the work space of the institution is searched out. Finally,the inverse equation is solved by using MATLAB software and the results simulation verification is carried out by using ADAMS,which verified the correctness of the inverse solution of position analysis and the feasibility of the mechanism.

关 键 词：并联机构 自由度 位置逆解 工作空间 

分 类 号：TH112[机械工程—机械设计及理论]