3-SPS/PS并联机构运动仿真  

Motion Simulation of 3—SPS/PS Parallel Mechanism

作　　者：傅敏 周毅钧[1] 陈业富 张伟 FU Min;ZHOU Yijun;CHEN Yefu;ZHANG Wei(Anhui University of Science and Technology,Huainan 232001,China)

机构地区：[1]安徽理工大学机械工程学院,安徽淮南232001

出　　处：《洛阳理工学院学报（自然科学版）》2020年第3期36-40,共5页Journal of Luoyang Institute of Science and Technology：Natural Science Edition

基　　金：安徽省高校自然科学研究项目(KJ2015A125).

摘　　要：根据方位特征集和速度特征集的并联机构拓扑机构的分析方法,以3-SPS/PS并联机构作为研究对象,得出了机构可以实现三个方向的转动和一个方向的移动的运动形式,并根据坐标变换的方法求解了机构的位置反解。通过SolidWorks软件建立了3-SPS/PS并联机构的三维模型,利用Adams软件对并联机构进行运动仿真,得到了并联机构在正反解下的位移、速度和加速度运动曲线图,为并联机构的应用提供了理论参考。According to the analysis method of the topological mechanism of the parallel mechanism based on the azimuth feature set and the speed feature set,the 3-SPS/PS parallel mechanism is taken as the research object,and the movement form that the mechanism can realize the rotation in three directions and the movement in one direction is obtained,and The position inverse solution of the mechanism is solved according to the method of coordinate transformation.The three-dimensional model of 3-SPS/PS parallel mechanism was established through SolidWorks software,and the motion simulation of the parallel mechanism was performed using Adams software.The displacement,velocity and acceleration motion curves of the parallel mechanism under the positive and negative solutions are obtained,which provides a theoretical reference for the application of the parallel mechanism.

关 键 词：少自由度 拓扑结构 位置反解 ADAMS 

分 类 号：TH112[机械工程—机械设计及理论]