摘要
针对一种3-SPR并联平台机构,依据机构的数学模型建立了机构的位置逆解模型,在此基础上推导出各支链的速度映射模型,通过算例和运动学仿真软件CosmosMotion的仿真结果对比分析验证了该速度模型正确有效,并通过利用SolidWorks软件进行虚拟机构的建模,对其工作空间进行仿真,得到机构工作空间的几何形状。
The inverse and forward position model of a 3 - SPR parallel platform mechanism was established. The velocity model of each chain was derived on basis of the position analysis. By comparing the calculation analysis of samples and the results derived by simulation software CosmosMotion, the position and velocity analyses were proved to be correct. The virtual mechanism was modeled by using SolidWorks. The geometric shape of workplace was obtained.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2012年第8期215-220,共6页
Transactions of the Chinese Society for Agricultural Machinery
基金
国家高技术研究发展计划(863计划)资助项目(2009AA04Z219)
