基于直角坐标法的V-2RPa⊥R⊕2RSS并联机构正逆解分析  

Forward and Inverse Solution Analysis of V-2RPa⊥R⊕2RSS Parallel Mechanism Based on Cartesian Coordinate Method

作　　者：邵国为 SHAO Guo-Wei(Changzhou Vocational Institute of Textile and Garment,Changzhou Jiangsu213016,China)

机构地区：[1]常州纺织服装职业技术学院,江苏常州213016

出　　处：《机电产品开发与创新》2024年第1期146-150,共5页Development & Innovation of Machinery & Electrical Products

基　　金：常州市应用基础研究计划(前资助)(CJ20235003);常州纺织服装职业技术学院2023年教师企业实践项目。

摘　　要：构建一个基于有序单开链(SOC)的三平移一转动V-2RPa⊥R⊕2RSS并联机构的数学模型,通过使用直角坐标法对其位置进行了计算,并且提供了位置正解与反解的证明过程,同时也验证了这些结果的准确情况。与I4, Cross-IV相比,该V-2RPa⊥R⊕2RSS机器人具有结构简单等优点,可为后续的运动尺度综合,样机设计及动力学特性研究奠定基础。A kinematics model of V-2RPa⊥R⊕2RSS parallel mechanism based on the SOC(Single_Open_Chain)with three translations and one rotation is proposed.The position of the mechanism is numerically solved using the cartesian coordinate method.Verification of the correctness of both forward and inverse solutions is provided,along with their derivation.Compared with I4 and Cross-IV,the V-2RPa⊥R⊕2RSS robot has advantages such as simple structure,which lays the foundation for subsequent kinematic scale synthesis,prototype design,and dynamic characteristic research.

关 键 词：V-2RPa⊥R⊕2RSS并联结构 运动模型 位置正向求解 位置反向求解 

分 类 号：TH112[机械工程—机械设计及理论]