摘要
提出了一种单支杆支链的 3-PTT并联平台机构 ,通过理论分析及运动仿真 ,证明了该机构仅有 3个平动自由度。文章给出了该机构的运动学逆解 ,同时对机构具有最大空间体积比条件下的参数配置进行了分析 ,得出了动平台三角形边长为固定平台三角形边长的 1/2时 ,机构具有最大的空间体积比这一结论。
In the paper,a 3-PTT parallel platform with single-link branched chains is put forward. Applying the method of numerical calculating,DOF analysis and kinematics simulation,the author proved that the 3-PTT parallel platform with single-link branched chains can only do 3-DOF translation. At the same time,the author discussed the problem of parameter configure based on the biggest ratio of its workspace to bulk,and got the conclusion that the ratio is biggest when the side length of moving platform triangle is equal to 1/2 side length of fixed platform triangle.
出处
《机床与液压》
北大核心
2003年第6期55-57,126,共4页
Machine Tool & Hydraulics
基金
吉林省科学技术规划项目
项目编号 :2 0 0 0 0 12 2
