摘要
根据螺旋理论分析了新型空间三平移3-RCR并联机构的运动螺旋和约束螺旋,确定了机构的自由度;运用坐标变换法求得机构的位置反解;利用极坐标边界搜索法通过具体算例确定了机构的工作空间及其边界,为该类并联机构的进一步研究和应用提供参考。
Motion screw and constraint screw of each branched chain of a novel type 3-RCR spacial parallel mechanism with three translations were analyzed based on screw theory, and DOF of the mechanism was obtained. Inverse positions of the mechanism were got by means of coordinate transformations. The polar coordinates boundary searching algorithm was used to obtain the workspaee and its boundary, which was verified by the numerical example.
出处
《机床与液压》
北大核心
2010年第5期24-26,共3页
Machine Tool & Hydraulics
基金
山东省自然科学基金资助项目(Y2006G17)
关键词
并联机构
位置反解
工作空间
Parallel mechanism
Inverse position
Workspace
