3-UPU并联机构的运动学仿真与分析

为了提高并联机构的设计效率和准确性,以3-UPU型三平动并联机构为研究对象,对其进行运动学位置正逆解仿真与分析。在ADAMS环境下,得出该机构位置正逆解的仿真曲线。运用MATLAB作出其理论位置逆解曲线并与仿真位置逆解曲线相比较,验证了仿真位置逆解的正确性。将仿真逆解曲线以样条驱动函数形式输入给该机构,得出样条驱动函数下的位置正解曲线并与仿真位置正解曲线相比较,验证了仿真位置正解的正确性。说明了该并联机构的理论数学模型与仿真实体模型的正确性与合理性,为后续的控制提供理论依据。

Kinematic Analysis and Simulation of 3 UPU Parallel Mechanism

3-UPU three translational parallel mechanism is studied with the simulation and analysis method of positive solution and inverse solution in Kinematic in order to improve the design accuracy and design efficiency of the parallel mechanism. In the ADAMS environment, the simulation curves of the positive and negative solutions of the mechanism were obtained. Using MATLAB to make its theoretical position inverse solution curve and to compare it with the position inverse solution curve obtained from the ADAMS simulation, the correctness of the position inverse solution simulation was verified. The inverse solution simulation curve was input to the parallel mechanism in the form of a spline driving function, and the position positive solution curve under the spline driving function was obtained, and compared it with the forward position solution simulation curve. The result shows that the obtained curves basically coincide with the simulation curves. the correctness of the position positive solution simulation is verified, and theoretical guidance is provided for solving the forward and inverse solution and control of the parallel mechanism.