摘要
提出了一种能够实现一维移动和两维转动的空间3自由度并联机构,其固定平台与运动平台通过1个PTS支链、1个PRS支链和一个PS支链相连接。基于该机构运动约束方程,得到位置反解、正解和速度方程的封闭表达式。最后,应用实例验证了理论分析的正确性。
A type of spatial three degrees-of-freedom parallel manipulator with two rotation and one translation is proposed.By means of one PTS branch and PRS branch and PS branch,the moving platform is linked to the fixed platform of the manipulator.The complete closed form formulae of positive and reverse positional solution are given out based on the motion constrained equation of the parallel mechanisms.Finally,the living example shows that the theoretical analysis is right.
出处
《机械传动》
CSCD
北大核心
2011年第2期32-34,共3页
Journal of Mechanical Transmission
关键词
并联机构
位置反解
位置正解
Parallel manipulator Reverse positional solution Positive positional solution
