| 3-RPS并联机构及其轨迹规划与仿真 |
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| 引用本文： | 余联庆,梅顺齐,张智明.3-RPS并联机构及其轨迹规划与仿真[J].现代制造工程,2005(9):30-32. |
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| 作者姓名： | 余联庆 梅顺齐 张智明 |
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| 作者单位： | 武汉科技学院机电系,430074 |
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| 摘 要： | 构造了3-RPS并联机构试验台,运用并联机构逆运动学分析理论,分析研究动平台的运动轨迹规划。推导出其运动学反解计算公式,确定了动平台按预期轨迹运动时应在原动件上施加的运动规律。最后,在ADAMS环境中建立了该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。
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| 关 键 词： | 并联机构 轨迹规划 虚拟样机 |
| 文章编号： | 1671-3133(2005)09-0030-03 |
| 修稿时间： | 2004年11月17 |
Trajectory planning and simulation on 3-RPS parallel mechanisms |
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| Yu Lianqing,Mei Shunqi,Zhang Zhiming.Trajectory planning and simulation on 3-RPS parallel mechanisms[J].Modern Manufacturing Engineering,2005(9):30-32. |
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| Authors: | Yu Lianqing Mei Shunqi Zhang Zhiming |
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| Abstract: | A 3-RPS parallel platform for experiment is build up.With the inverse kinematics theory of parallel mechanism,the trajectory planning of moving platform is analyzed.The computation formula of inverse kinematics is deduced,and then the movement exerted on the actuator is achieved when moving platform is moving on the desired trajectory.The virtual prototype of this mechanism is created in ADAMS,the planned trajectory is verified through the simulation and experiments. |
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| Keywords: | Parallel mechanism Trajectory planning Virtual prototype |
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