摘要
基于3-RPS并联机构的位置反解,在考虑杆长、运动副转角及杆间干涉等约束的情况下,利用搜索法求得了机构动平台相对于定平台运动的姿态工作空间(即偏转能力),研究了动平台姿态工作空间与垂直于定平台的向移动位置空间的关系,并分析了机构主要结构参数对动平台偏转能力的影响。
A three-dimensional workspace of a 3-RPS parallel mechanism is obtained based on its inverse kinematics bY consider-ing the parallel bar length, the motion fit corner, and the parallel bar interference. The relationship between the moving platform workspace and the translational position workspace along the normal axis of the base is studied. The influence of the main structural parameters on the deflection capacity of the moving platform is analyzed.
出处
《燕山大学学报》
CAS
2012年第3期196-200,共5页
Journal of Yanshan University
基金
河北省自然科学基金资助项目(E2011203214)
秦皇岛市科技支撑计划项目(201101A142)
