INVERSE KINEMATIC AND DYNAMIC ANALYSIS OF A 3-DOF PARALLEL MECHANISM  

作　　者：LiJianfeng WangJinsong 

机构地区：[1]CollegeofMechanicalEngineeringandAppliedElectronics,BeijingUniversityofTechnology,Beijing100022,China [2]Manufacturinginstltute,TsinghuaUniversity,Bejing100084,China

出　　处：《Chinese Journal of Mechanical Engineering》2003年第1期54-58,共5页中国机械工程学报（英文版）

基　　金：This project is supported by National Natural Science Foundation of China (No.59775006);Postdoctoral Science Foundation of China (No.200031).

摘　　要：According to the structure character of the passive sub-chain of the 3TPS-TPparallel mechanism, the kinematic constraint equations of the movable platform are established,based on which the closed-form inverse kinematics formula of the parallel mechanism are presented.Through parting the spherical joints of the active sub-chains and using the force and momentequilibrium of both the active sub-chains and passive sub-chain, the constraint forces acting on theparted joints are determined. Subsequently, the analytic expressions of the actuator driving forcesare derived by means of the force equilibrium of the upper links of active sub-chains.According to the structure character of the passive sub-chain of the 3TPS-TPparallel mechanism, the kinematic constraint equations of the movable platform are established,based on which the closed-form inverse kinematics formula of the parallel mechanism are presented.Through parting the spherical joints of the active sub-chains and using the force and momentequilibrium of both the active sub-chains and passive sub-chain, the constraint forces acting on theparted joints are determined. Subsequently, the analytic expressions of the actuator driving forcesare derived by means of the force equilibrium of the upper links of active sub-chains.

关 键 词：3TPS-TP parallel mechanism KINEMATICS DYNAMICS ANALYSIS 

分 类 号：TH112[机械工程—机械设计及理论] TH113