摘要
对具有三条PC(RR)N分支运动链的3-PC(RR)N球面三自由度并联机构进行了运动学分析。3-PC(RR)N并联机构只含有两个独立的结构参数。建立了3-PC(RR)N并联机构的位置逆解模型和雅可比矩阵,并给出了基于位置逆解的可达工作空间和灵活工作空间的数值搜索方法。分析了该机构的约束奇异和运动学奇异,最后对样机进行了实例分析。
This paper addressed the kinematics analysis of a 3-DOF （degrees of freedom） 3-Pc （RR）N spherical parallel manipulator, which had three sub-chains. The only two structural parameters of the manipulator were illustrated and the inverse displacement analysis as well as Jacobian matrix was proposed using analytical method. Based on the inverse displacement the reachable workspace and dexterous workspace were obtained by numerical solution. Further, the constraint and kinematic singularity of the mechanism was presented. Finally the prototype was analyzed.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2009年第11期1280-1285,共6页
China Mechanical Engineering
基金
国家自然科学基金资助项目(50605055)
