摘要
针对3-RRR型并联机构的输入及输出构件间的位置关系展开研究.基于运动螺旋理论,分析了该机构的自由度性质,并确定了主动副的位置;建立了机构的逆运动学方程及正运动学方程,并对给定运动平台的位姿进行了数值计算,以验证所建立方程的正确性;研究了机构的运动解耦性以及运动平台的工作空间大小与连杆长度变化的关系;最后,对给定运动平台的运动方程下主动副的输出转角进行了数值仿真.
Research on the situational relation between the active member and the passive member of the 3-RRR parallel mechanism was presented in the paper.Based on screw theory,the DOF（degree of freedom） of the mechanism was calculated.And then the active joint was selected.Direct kinematics equations and inverse kinematics equations were derived.With the kinematics equations,position and pose of moving platform was calculated,and the effectiveness of equations was verified.Movement decoupling of the mechanism and the relation between the work space and the length of the limb were investigated.Lastly,with given motion trajectory of the moving platform,the actuating angles of the active joint were obtained through simulation calculation.
出处
《佳木斯大学学报（自然科学版）》
CAS
2011年第5期703-706,709,共5页
Journal of Jiamusi University：Natural Science Edition
基金
佳木斯大学科研基金资助项目(L2011-12)
