空间3自由度并联机构运动学分析  

Analysis of Spatial 3-DOF Parallel Mechanism Kinematics

作　　者：王丽[1] Wang Li(School of Mechanical Engineering,Shaanxi Polytechnic Institute,Xianyang Shaanxi,712000,China)

机构地区：[1]陕西工业职业技术学院机械工程学院,陕西咸阳712000

出　　处：《陕西工业职业技术学院学报》2020年第1期37-43,共7页Journal of Shaanxi Polytechnic Institute

摘　　要：从机构运动副约束导出动平台伎養和姿态参数之间的耦合关系,给出了描述机构位形的独立参数。将具有四面体结构的动平台等效地处理成一个平面三角形,大大减少了约束方程中未知数的个数,降低了位置,正解求解的难度,得到机构位置的解析表示。针对动平台位置和姿态参数互不独止的特点,提出确定工作空间的准则,得到工作空间边界的解析表达式,导出了工作空间形状、位置和天小与机构结构参数的关系,这对机构的综合及动态性能优化是很有用处的。采用球坐标计算工作空间的体积,分析了关节结构约束对工作空间大小的影响。The coupling relation between position and attitude parameter?of moving platform was derived from the kinematic pair constraints of the mechanism.The moving platform with tetrahedron structure was equivalent to a plane triangle,which greatly reduced the number of the unknowns in the constraint equation and the level of the difficulty in position forward solution,and the analytical expression of workspace boundary was obtained,Due to the fact that the position and attitude parameters of the moving platform are not independent on each other,the criterion for determining the workspace was proposed,the analytical expression of the workspace boundary was obtained,and the relationship between the shape,position and size of the workspace and the structural parameters of the mechanism was derived,which was very useful to optimize the synthesis and dynamic performance of the mechanism,The volume of workspace was calculated with spherical coordinates,and the influence of joint structure constraints on workspace size was analyzed.

关 键 词：并联机构 位置正解 工作空间 

分 类 号：TP311.1[自动化与计算机技术—计算机软件与理论]