摘要
以3-PRPS并联机构为研究对象,以机构上平台3个顶点之间的长度为约束条件,建立约束方程,研究该并联机构正解的封闭解形式,并求解了机构的全部位置正解。基于3-PRPS并联机构自身的结构特点,运用向量之间的内积与外积,求解了机构的位置反解。对正反解的研究结果进行了数值验证,正解的计算结果与反解的计算结果相吻合。最后,研究了该机构在车船用并联机构减振平台方面的应用,并进行了运动学仿真,仿真结果表明该机构具有良好的减振性能。
Kinematics based on 3--PRPS parallel mechanism were studied, and the ｜engtn oetween the three vertexes of the platform was regarded as the restrict condition to obtain the constrained equations and thus a closed--form solution of the forward position problem of the parallel mechanism was studied. And all of the forward solution was solved. According to structure characteristics of 3-- PRPS parallel mechanism, the vectors dot product and cross product were applied to solve inverse so- lution for the parallel mechanism. Secondly, a numerical verification was put up to the results of the forward and inverse solutions. The forward solution is coincident with the inverse solution. Last, ap- plication of vibration reduction platform of 3--PRPS parallel mechanism was researched, and kinetic simulation was performed. The simulation shows that the mechanism has good vibration reduction performance. ,.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2013年第23期3220-3224,共5页
China Mechanical Engineering
基金
国家自然科学基金资助项目(50905077)
山东省自然科学基金资助项目(ZR2012EEL05)
关键词
并联机构
封闭解
正反解
应用
parallel mechanism
closed--form solution
forward and inverse solution
application
