一种3-PRS并联机构正向运动学求解方法  

A Solving Method for Forward Kinematics of 3-PRS Parallel Mechanism

作　　者：黄俊杰[1] 胡博炜 宋金典 Huang Junjie;Hu Bowei;Song Jindian(School of Mechanical and Power Engineering,Henan Polytechnic University,Jiaozuo 454000,China)

机构地区：[1]河南理工大学机械与动力工程学院

出　　处：《机械传动》2019年第8期98-102,共5页Journal of Mechanical Transmission

基　　金：河南省高等学校青年骨干教师资助计划(2015GGJS-244);河南省教改重点项目(2017SJGLX039)

摘　　要：并联机构正向运动学求解复杂、存在多解,是研究的热点和难点。提出用D-H法和图形可视化相结合的方法对3-PRS并联机构进行正向运动学求解的方法。首先,对机构中的球铰做等效转换,运用D-H法对支链进行运动学分析,推导出3-PRS并联机构的正向运动学方程;然后,采用迭代法得到16组正向运动学方程的解,通过可视化编程,直观地得到3-PRS并联机构的位形,即得到并联机构的运动学正解。结果表明,所得到的一组运动学正解与实际结构的位形相符。该方法有效、正确,并适用于求解其他类型的并联机构正向运动学。It is necessary that parallel mechanisms are researched because of the complex and multiple ki-nematics solution, and it is the research hotspot and the difficulty. The method of combining D-H and graphicalvisualization is put forward to solve the forward kinematics of 3-PRS parallel mechanism. Firstly, the sphericalhinge in parallel mechanisms is equivalent converted, and then the kinematics analysis is carried out by D-Hmethod, the forward kinematics equation is deduced. Secondly, the 16 forward solutions are obtained by iterativemethod. The 16 visible graphics are intuitively obtained by visual programming, that is, the forward kinematicssolution of the parallel mechanism is obtained. In the end, the result shows that one of the obtained graphics iscoincident with the actual position and pose for 3-PRS parallel mechanism. This method is valid and correct,and it is also suitable for solving forward kinematics of other types of parallel mechanism.

关 键 词：3-PRS并联机构 D-H法 数值法 图形可视化 正解 

分 类 号：TH112[机械工程—机械设计及理论]