| 3-PRRP~((4r))三平移并联机构及运动学分析 |
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| 引用本文： | 朱伟,胡爱萍,马履中. 3-PRRP~((4r))三平移并联机构及运动学分析[J]. 机械设计与制造, 2009, 0(7) |
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| 作者姓名： | 朱伟 胡爱萍 马履中 |
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| 作者单位： | 1. 江苏工业学院机械与能源工程学院,常州,213016
2. 江苏大学机械工程学院,镇江,212013 |
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| 摘 要： | 设计构造了3-PRRP(4r)平移并联机构,分析了机构的结构特征以及自由度,求出了机构的位置正解和反解的解析式;在给定范围内,采用圆柱坐标搜索法搜索出机构动平台的运动工作空间.该并联机构结构简单、紧凑,适合应用于微动机器人、三维减振等领域.
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| 关 键 词： | 并联机构 位置分析 运动学 工作空间 |
The 3-PRRP~((4r)) parallel mechanism with three translations and analysis of its kinematics |
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| ZHU Wei,HU Ai-ping,MA Lv-zhong. The 3-PRRP~((4r)) parallel mechanism with three translations and analysis of its kinematics[J]. Machinery Design & Manufacture, 2009, 0(7) |
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| Authors: | ZHU Wei HU Ai-ping MA Lv-zhong |
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| Affiliation: | 1School of Mechanical and Energy Engineering;Jiangsu Polytechnic University;Changzhou 213016;China;2School of Mechanical Engineering;Jiangsu University;Zhenjiang 212013;China |
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| Abstract: | It designs the 3-PRRP(4r)parallel mechanism with three translations and analyse its structure and free degree.The position direct and inverse formula are induced.In given area,workspace of moving plat form is searched by using the column searching means.The mechanism is simple and compact in its structure,and it can be applied in the fields of micromanipulators,3D damping platform. |
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| Keywords: | Parallel mechanism Position analysis Kinematics Workspace |
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