摘要
文章提出了一种3-RRRS的新型并联机构,并采用矢量法对其进行了位置逆解,求得其逆解方程;通过具体算例分析给出了极限边界搜索法的具体算法及程序流程图,并利用matlab[1]数学工具采用极限边界搜索法[2]确定了机构的工作空间及其边界,并分别将其图形绘制出来;这为该类并联机构的进一步研究和应用奠定基础。
This paper proposes a novel parallel mechanism named 3--RRRS,and gives Inverse solutions to positions and its Inverse solutions equation of this mechanism.The concrete arithmetic and procedure flow chart about the extreme--boundary numerical algorithm have been got by analysis about a concrete example, The workspace and its boundary of this mechanism are determined with the algorithm by matlab,figures of the workspace and its boundary are also protracted,which is the basis of farther study and application of this parallel mechanism.
出处
《组合机床与自动化加工技术》
2008年第1期23-26,共4页
Modular Machine Tool & Automatic Manufacturing Technique
关键词
位置逆解
工作空间
极限边界搜索法
inverse solutions to positions
workspace
extreme--boundary numerical algorithm
