摘要
提出了一种新型2-PRR两自由度并联主轴平台机构,介绍了其机构组成及其结构特点。针对此平台机构,建立了运动学方程,给出了机构的位置正反解,并绘制了所有正反解构成的空间曲面,由此得到了平台机构的工作空间。最后,基于雅克比矩阵,对平台机构进行了运动仿真研究,为并联主轴平台机构运动参数的正确设计及控制提供了理论依据。
A novel 2-PRR 2-DOF parallel spindle platform mechanism is proposed, and then its component and structure characteristics are introduced. Its kinematic equations are built, the direct and inverse position solutions are given. In addition, the platform mechanism workspace is obtained by plotting spacial surfaces consisting of all direct and inverse solutions. Finally, motion simulation of the platform mechanism based on Jacobian matrix is carriede out. The results can be used for choosing the right motion parameters and for motion control of the parallel spindle platform mechanism.
出处
《机械科学与技术》
CSCD
北大核心
2008年第9期1195-1198,共4页
Mechanical Science and Technology for Aerospace Engineering
基金
国家科技支撑计划项目(2006BAF01B09)资助
关键词
并联平台
运动学分析
正反解
运动仿真
parallel platform
kinematic analysis
direct and inverse solution
motion simulation
