3PSS/PRRR并联机构运动学仿真分析  

Kinematic simulation analysis of 3PSS/PRRR parallel mechanism

作　　者：陈建鹏 周毅钧[1] 李特奇 符克伟 Chen Jianpeng;Zhou Yijun;Li Teqi;Fu Kewei(School of mechanical engineering,Anhui University of science and technology,Huainan Anhui,232001)

机构地区：[1]安徽理工大学机械工程学院,安徽淮南232001

出　　处：《电子测试》2021年第17期59-60,83,共3页Electronic Test

摘　　要：首先在SolidWorks中构建3PSS/PRRR空间模型,并对模型加以描述,然后运用机构拓扑学分析其方位特征集,得出该机构具有三平移一转动的自由度,并运用Grübler-Kutzbach公式验证拓扑结构的正确性。其次赋予动、定平台实际的物理参数并在平台中心建立坐标系,运用坐标转换法与封闭矢量法计算并联机构反解方程,得出动平台与四条驱动杆之间的位姿关系。最后在Adams中添加约束条件得到3PSS/PRRR运动学仿真曲线云图,进一步证实3PSS/PRRR并联机构为无并联冗余约束且运动性能良好。Firstly,a 3PSS/PRRR space model was constructed in SolidWorks and described.Then,the azi muth feature set of the mechanism was analyzed by using the mechanism topology.It was found that the mechanism had three translational and one rotational degrees of freedom,and the correctness of the to pology was verified by Grubler-Kutzbach formula.Secondly,the actual physical parameters of the movin g platform and the fixed platform are given and the coordinate system is established in the center of the platform.The inverse equation of the parallel mechanism is calculated by the coordinate transfor mation method and the closed vector method,and the position and posture relationship between the movi ng platform and the four driving rods is obtained.Finally,the 3PSS/PRRR kinematic simulation curve c loud map was obtained by adding constraint conditions in ADAMS,which further confirmed that the 3PSS/PRRR parallel mechanism has no parallel redundant constraints and good kinematic performace.

关 键 词：自由度 位置反解 运动学 

分 类 号：TH112[机械工程—机械设计及理论]