| 3PSS并联机构的运动轨迹规划与仿真 |
| |
| 引用本文： | 郭卫东,张玉茹,陈五一.3PSS并联机构的运动轨迹规划与仿真[J].机械设计与研究,2004,20(1):19-21. |
| |
| 作者姓名： | 郭卫东 张玉茹 陈五一 |
| |
| 作者单位： | 北京航空航天大学,机械工程及自动化学院,北京,100083 |
| |
| 摘 要： | 在对3PSS并联机构进行结构分析的基础上，应用并联机构的逆向运动学分析理论，对3PSS并联机构的动平台的运动轨迹规划进行了分析研究。给出了3PSS并联机构的位移反解计算公式，由此确定了动平台按预期轨迹运动时应在原动件滑块上施加的运动规律。最后，采用虚拟样机技术，创建了3PSS并联机构的虚拟样机模型，通过虚拟样机仿真对所规划的运动轨迹进行了验证。
|
| 关 键 词： | 并联机构 轨迹规划 仿真 运动学 位移反解 虚拟样机 |
| 文章编号： | 1006-2343(2004)01-019-03 |
| 修稿时间： | 2003年7月28日 |
Planning of the Motion Path and Simulating of Parallel mechanism 3PSS |
| |
| GUO Wei-dong,ZHANG Yu-ru,CHEN Wu-yi.Planning of the Motion Path and Simulating of Parallel mechanism 3PSS[J].Machine Design and Research,2004,20(1):19-21. |
| |
| Authors: | GUO Wei-dong ZHANG Yu-ru CHEN Wu-yi |
| |
| Abstract: | On the base of the structure analysis,the motion path of the movable platform of the 3PSS parallel mechanism is studied by using the theory of inverse kinematics of the parallel mechanism.The inverse solution of the 3PSS parallel mechanism is formulated,then the movement rules applied to the driving component sliders are determined in order to make the movable platform of the mechanism to move according to the expected path.Finally by using virtual prototyping technology,the virtual prototyping model of the 3PSS parallel mechamism is created and the planned movement path is validated with the software of the dynamic analysis of mechanism systems ADAMS. |
| |
| Keywords: | parallel mechanism path planning virtual prototyping technology |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
