| 纯转动型3-UPU并联机构工作空间分析 |
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| 引用本文： | 梁伟文.纯转动型3-UPU并联机构工作空间分析[J].机械科学与技术(西安),2006,25(7):836-839,882. |
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| 作者姓名： | 梁伟文 |
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| 作者单位： | 深圳职业技术学院机电工程学院,深圳518055 |
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| 摘 要： | 详细讨论了纯转动型3-UPU并联机构的工作空间。文中首先分析了3-UPU并联机构的纯转动运动的条件;然后用动平台的法向量、绕该向量转动的角度和连杆长度来直观地定义并联机构的工作空间,并分析了该定义该机构运动的几何和非几何约束条件,最后提出了纯转动3-UPU并联机构的工作空间搜寻算法,并利用M app le软件验证了该算法的有效性。本文研究的内容对3-UPU并联机构的可行性和优化设计有一定的作用。
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| 关 键 词： | 纯转动 3-UPU并联机构 工作空间 |
| 文章编号： | 1003-8728（2006）07-0836-04 |
| 收稿时间： | 2005-03-16 |
| 修稿时间： | 2005-03-16 |
Orientation Workspace Analysis of 3-UPU Parallel Manipulators with Pure Spherical Motion |
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| Liang Weiwen.Orientation Workspace Analysis of 3-UPU Parallel Manipulators with Pure Spherical Motion[J].Mechanical Science and Technology,2006,25(7):836-839,882. |
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| Authors: | Liang Weiwen |
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| Affiliation: | School of Mechanical and Electrical Engineering, Shenzhen Vocational Technical Institute, Shenzhen, 518055 |
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| Abstract: | The paper discussed orientation workspace of 3-UPU parallel manipulators with pure spherical motion and symmetric geometry. A visual definition of orientation workspace is presented together with the length of links, normal vectors of movement platform and rotational angles around the normal vectors. This definition is used to calculate the orientation workspace of 3-UPU manipulators with pure spherical motion and symmetric geometry and to analyze geometric and non-geometric constraints of the 3-UPU manipulators. The results presented are useful for the optimum design of 3-UPU parallel manipulators. |
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| Keywords: | pure spherical motion 3-UPU parallel manipulator orientation workspace |
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