一种2R1T并联机构位置反解和工作空间分析  

Inverse Position Solution and Working Spatial Analysis of a 2R1T Parallel Mechanism

作　　者：张金萍[1] 何学军 郭朋浩 李宪芝 罗厚学 ZHANG Jinping;HE Xuejun;GUO Penghao;LI Xianzhi;LUO Houxue(College of Mechanical and Power Engineering,Shenyang University of Chemical Technology,Shenyang 110142,China;College of Mechanical and Power Engineering,Yingkou Institute of Technology,Yingkou Liaoning 115014,China;College of Chemistry and Environmental Engineering,Yingkou Liaoning 115014,China)

机构地区：[1]沈阳化工大学机械与动力工程学院,辽宁沈阳110142 [2]营口理工学院机械与动力工程学院,辽宁营口115014 [3]营口理工学院化学与环境工程学院,辽宁营口115014

出　　处：《佳木斯大学学报（自然科学版）》2023年第5期80-82,共3页Journal of Jiamusi University：Natural Science Edition

基　　金：营口理工学院引进高层次人才科研启动经费项目(YJRC202022)。

摘　　要：设计了一种带封闭支链的2R1T并联机构,机构主体组成包括定平台、动平台、两条RPS支链、一条由封闭支链2SPR和S组成的支链。通过改变三个P副的位移大小来控制动平台的位置及姿态。基于螺旋理论,对2T1R并联机构进行自由度分析,分析得到该机构有两个转动自由度和一个移动自由度。建立机构运动学的反解模型并进行反解求解。应用SolidWorks建立2R1T并联机构的模型并用Matlab建立运动学模型。应用数值搜索法基于位置反解在Matlab中求解得到并联机构的工作空间。A 2R1T parallel mechanism with closed branch chains was designed,which consists of a fixed platform,a moving platform,two RPS branch chains,and a branch chain composed of closed branch chains 2SPR and S.Control the position and attitude of the moving platform by changing the displacement of the three P-pairs.Based on the screw theory,a degree of freedom analysis was conducted on the 2T1R parallel mechanism,and it was found that the mechanism has two rotational degrees of freedom and one moving degree of freedom.The inverse model of mechanism kinematics is established and solved.The model of 2R1T parallel mechanism is established by SolidWorks and the kinematics model is established by Matlab.Apply numerical search method based on position inverse solution to solve the workspace of the parallel mechanism in Matlab.

关 键 词：并联机构 运动学 工作空间 

分 类 号：TH112[机械工程—机械设计及理论]