摘要
提出一种新型3-PUU并联机构,对该并联机构进行运动学分析,得到了3-PUU并联机构的运动学反解,在此基础上,分析了移动副和虎克铰对工作空间的限制。采用三维极限搜索法求解了工作空间。对该并联机构的工作空间进行了优化分析,为并联机构的构型设计和进一步研究奠定了基础。研究结果表明,该种机构具有较好的实际应用前景。
A novel 3- PUU parallel mechanism is proposed,the kinematics analysis of the parallel mechanism is carried out and the kinematics inverse solutions of the 3- PUU parallel mechanism are obtained. Based on the previous works,the constraints conditions on the mobile side and Hooke in the workspace are analyzed.By using the three- dimensional limit search method,the workspace is solved. The workspace of the parallel mechanism is analyzed and optimized,which laid the foundation for the design of the parallel manipulator mechanism and the further study. The results show that,the parallel mechanism has a good application prospect.
出处
《机械传动》
CSCD
北大核心
2015年第8期55-58,73,共5页
Journal of Mechanical Transmission
基金
辽宁省教育厅科学技术研究(重点实验室建设)项目(2008S106)
辽宁省教育厅科学技术研究(创新团队)项目(LT2010045)
关键词
并联机构
运动学
极限搜索法
工作空间
优化分析
Parallel mechanism Kinematics Limit search method Workspace Optimization analysis
