三自由度并联机构的设计与运动学分析

设计了一种应用于各类表面加工的三自由度并联机构,充分研究了三自由度并联机构在空间的运行机理,使机构加工时,能够合理设置加工参数。首先,对三自由度并联机构进行了位置正逆解分析,并通过举例计算验证了其正确性,为机构的控制提供了理论参考。然后,对其进行了运动空间求解,研究了三自由度并联机构的工作空间,得出工作空间分布特点。最后,通过ADAMS仿真了并联机构的运动过程,验证了其运动学性能,对其移动平台的位移、速度、加速度进行了详细分析,说明了设计的机构能适应速度变化要求高的场合。

Design and Kinematics Analysis of a Three-DOF Parallel Mechanism

A three-degree-of-freedom parallel mechanism for various surface machining is designed.The operation mechanism of the three-degree-of-freedom parallel mechanism in space is fully studied,so that the machining parameters can be set reasonably during the machining.Firstly,the positional forward and inverse solution analysis of the three-degree-of-freedom parallel mechanism is carried out,and its correctness is verified by an example calculation,which provides a theoretical reference for the control of the mechanism.Then,the motion space is calculated,and the working space of the three-degree-of-freedom parallel mechanism is studied,and the distribution characteristics of the workspace are obtained.Finally,the motion process of the parallel mechanism is simulated by ADAMS,and its kinematics performance is verified.The displacement,velocity and acceleration of the mobile platform are analyzed in details,which shows that the mechanism designed can adapt to the occasions with high speed change requirements.