摘要
对 3PSS并联机构的运动特性进行了深入地分析 ,从理论上证明了该机构的动平台的运动为平动 ,并应用虚拟样机技术进行了验证 .接着又进一步分析了动平台的运动空间 ,给出了动平台运动空间的理论分析的解析描述 ,并绘制出了动平台运动空间的三维几何图形 。
The kinematic characteristics of 3PSS parallel mechanism was thoroughly analyzed. It was proved in theory that the motion of the movable platform is translation, and this kinematic characteristics of the mechanism was validated by the virtue prototype technology using the software of the dynamic analysis of mechanism systems ADAMS. The workspace of the movable platform of the mechanism was analyzed and the mathematic express of the workspace was given on the base of the theoretical analysis. The 3D configuration of the workspace was drawn up. This will establish the foundation for the locus plan of the mechanism.
出处
《北京航空航天大学学报》
EI
CAS
CSCD
北大核心
2004年第1期23-26,共4页
Journal of Beijing University of Aeronautics and Astronautics
关键词
机构
运动学
工作空间
并联机构
mechanisms
kinematics
workspace
parallel mechanism
