摘要
设计提出了一种两平移一转动并联机构,进行了结构学分析,包括其自由度计算及输出运动类型分析;给出了位置分析的正、逆解。通过SolidWorks及与其无缝集成的运动学分析模块—Cos-mosMotion,开发了该机构的三维实体模型并进行了运动学仿真。分析表明,该机构的位置分析求解容易,易于实时控制,可广泛应用于工业装配机器人、微动机器人、虚拟轴并联机床和多维减振平台等领域,同时验证了该机构的正确性。
A parallel mechanism with two translational and one rotational degree of freedom is designed.its structure characteristics,such as freedom number and output motion type,are investigated.and inverse and direct solution of position analysis are given.3D solid model and its kinematics simulation of the parallel mechanism are performed by SolidWorks and CosmosMotion which is a kinematics analysis module closely integrated with SolidWorks.The results of analysis show that the parallel mechanism tend to accomplish real-time control,and its position analysis is easy to be carried out,so that it can be widely applied in the many fields,such as like industrial assembly robots,micromanipulators,virtual axis parallel machine,and multidimentional damping platforms.
出处
《机械传动》
CSCD
北大核心
2007年第4期24-27,共4页
Journal of Mechanical Transmission
基金
常州工学院院科研基金(YN04032)资助
关键词
并联机构
运动学
位置分析
仿真
Parallel mechanism Kinematics Position analysis Simulation
