摘要
针对一种拓扑结构为2-PRPU型的3T1R空间并联机构,采用离散式蒙特卡洛法,通过对动平台转动自由度作离散化处理,在输入对称的情况下,实现了整个空间并联机构的定姿态工作空间、可达工作空间和灵活工作空间的可视化。从定姿态工作空间、灵活工作空间和可达工作空间的角度分析2-PRPU型空间并联机构的工作性能,表明该机构动平台的可达工作空间范围较大,且大部分为灵巧工作空间。这为多自由度空间并联机构的研究和应用提供理论基础。
The paper studies a type of 3T1R spatial parallel mechanism with the topology of 2-PRPU.Discrete Monte Carlo approach is applied to perform the discretization of the rotational degrees of freedom of the moving platform,which enables the visualization of the fixed-orientation,reachable and dexterous workspace of the mechanism with symmetrical inputs.The performance analysis of 2-PRPU mechanism based on fixedorientation,reachable and dexterous workspace indicates that the reachable workspace of the mechanism’s moving platform is large and the dexterous workspace accounts for a large proportion of the reachable workspace,which laid the foundation of the research and application of multi-DOF parallel mechanism.
作者
李旭
罗霞
罗成
孙淼
LI Xu;LUO Xia;LUO Cheng;SUN Miao(Dongfang Turbine Co.,Ltd.,Dongfang Electric Corporation,Deyang 618000,China;Sichuan Provincial Machinery Research&Design Institute,Chengdu 610063,China)
出处
《机械》
2020年第5期27-32,共6页
Machinery
基金
四川省科技计划(国际合作)资助项目(2018HH0144)。
