| 3-RPS型并联机构运动正解的研究 |
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| 引用本文： | 任文博,颜兵兵,殷宝麟,帅俊峰.3-RPS型并联机构运动正解的研究[J].佳木斯工学院学报,2014(3):412-414. |
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| 作者姓名： | 任文博 颜兵兵 殷宝麟 帅俊峰 |
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| 作者单位： | 佳木斯大学机械工程学院,黑龙江佳木斯154007 |
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| 基金项目： | 教育部科学技术研究重点项目（212042）; 黑龙江省教育厅科学技术研究项目（面上）（12531671）; 黑龙江省普通高等学校新世纪优秀人才培养计划项目（1252-NCET-021） |
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| 摘 要： | 并联机构运动学正解是一个位置和姿态耦合的复杂非线性问题,一般难以求得封闭形式的解析解.应用解析法对3-RPS型并联机构进行运动学正解问题进行了求解,并给出正解方程通式以及各项系数值,得到封闭形式的解析解.并给出具体数值实例进行求解,得出全部位置解,同时给出部分机构空间图形验证了解法可靠性.
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| 关 键 词： | 3-RPS型并联机构 运动学正解 解析法 |
Research on Direct Kinematics for 3-RPS Parallel Mechanism |
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| Authors: | REN Wen-bo YAN Bing-bing YIN Bao-lin SHUAI Jun-feng |
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| Affiliation: | (College of Mechanical Engineering,Jiamusi University,Jiamusi 154007,China) |
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| Abstract: | Direct kinematics of parallel mechanism is a complex and nonlinear problem of attitude coupled and position .Generally it is difficult to obtain closed -form analytical solution .And inverse kinematics equations of the mechanism were derived .The direct kinematics problem of 3-RPS parallel mechanism was solved by ana-lytical method , positive solution of the equation formula and coefficient values were given and obtained in closed-form analytical solution .The reliability of the method was verified based on solve specific numerical examples and drew part of the space agency graphical with all the position solution . |
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| Keywords: | 3-RPS parallel mechanism direct kinematics analytical method |
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