| 新型三转动并联机构的位置分析及其运动仿真 |
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| 引用本文： | 周晓光,栗洋,魏世民,廖启征. 新型三转动并联机构的位置分析及其运动仿真[J]. 机械设计与研究, 2006, 22(6): 17-19 |
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| 作者姓名： | 周晓光 栗洋 魏世民 廖启征 |
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| 作者单位： | 北京邮电大学,自动化学院,北京,100876 |
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| 基金项目： | 国家重点基础研究发展计划(973计划);国家自然科学基金;教育部科学技术研究重点项目;高等学校博士学科点专项科研项目 |
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| 摘 要： | 根据并联机器人机构结构综合理论,设计构造一种能实现空间三维转动的三自由度并联机构,该机构由三条PSS支链组成,在结构上具有良好的对称性。通过对三个距离约束方程构造D ixon结式导出了位置正解输入输出方程,得出8组位置正解。借助Pro/E软件,对虚拟并联机构平台进行运动仿真,得到了位姿变化曲线,验证了理论分析的正确性。
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| 关 键 词： | 并联机构 结构分析 位置分析 运动仿真 |
| 文章编号： | 1006-2343(2006)06-017-03 |
| 收稿时间： | 2006-06-29 |
| 修稿时间： | 2006-06-29 |
Position Analysis and Kinematics Simulation of a Novel Three-Rotational Parallel Mechanism |
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| ZHOU Xiao-guang,LI Yang,WEI Shi-min,LIAO Qi-zheng. Position Analysis and Kinematics Simulation of a Novel Three-Rotational Parallel Mechanism[J]. Machine Design and Research, 2006, 22(6): 17-19 |
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| Authors: | ZHOU Xiao-guang LI Yang WEI Shi-min LIAO Qi-zheng |
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| Affiliation: | School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China |
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| Abstract: | A new 3-DOF parallel mechanism with 3-rotation is synthesized and investigated according to the theories of the structure synthesis of parallel robot mechanisms.The mechanism consists of three kinematic chains of PSS and its structure is provided with well symmetrical property.Dixon's resultant is used with the three distance constraint equations,from which 8 different locations of the platform can be derived.By kinematics analysis and simulation of the virtual parallel mechanism with software Pro/E,the orientation transformation graph is given,which verify the correctness of the theoretical analysis. |
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| Keywords: | parallel mechanism structure analysis position analysis kinematics simulation |
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