3-CRS/SP并联机构的位置分析及可达工作空间研究  

Position Analysis and Research of Reachable Workspace of 3-CRS/SP Parallel Mechanism

作　　者：王自谦 赵耀虹[1] 李瑞琴[1] 赵建文[1] 陈晓明[1] 

机构地区：[1]中北大学机械与动力工程学院,山西太原030051

出　　处：《机械传动》2017年第12期10-13,18,共5页Journal of Mechanical Transmission

基　　金：国家自然科学基金(51275486)

摘　　要：用螺旋理论对并联机构3-CRS/SP进行了自由度分析,确定出机构的自由度分布情况,并用修正的G-K公式进行验证。然后采用解析几何法求解此并联机构的位置反解,以机构动平台上3个顶点间的长度为约束条件,构建约束方程,研究该机构封闭解法下的全部位置正解。最后通过对机构添加合适的马达,搜索出中间支链在不同长度下的边界点,用MATLAB软件读取边界点位置后,绘制出了该机构的可达工作空间图。The degree of freedom of the 3 - CRS/SP parallel mechanism is analyzed by using the screw theory, the distribution of degree of freedom of the mechanism is determined, the result is verified by the modi- fied G - K formula. And the inverse position solution of the parallel mechanism is got through the method of an- alytic geometry, the length between the three vertexes of the moving platform is regarded as the restrict condition to construct the constrained equations, the positive solution of all positions under the closed solution of the mechanism is studied. Finally, the appropriate motor is added to the mechanism, the boundary points that the intermediate branch chain in different lengths are searched, and the reachable workspace diagram of the mecha- nism is drawn by the MATLAB software.

关 键 词：并联机构 自由度 正反解 工作空间 

分 类 号：TH112[机械工程—机械设计及理论]