3-■RS并联机构主轴的运动学研究与仿真

Kinematics Research and Simulation of the Spindle Based on 3-■RS Parallel Mechanism

建立了3-■RS并联机构主轴的结构模型,通过运动学分析导出其运动学模型,并讨论了运用OpenGL图形库对主轴进行几何建模和运动学仿真。

This thesis presents the mathematic model of the spindle based on 3-PRS parallel mechanism. By using OpenGL,it discusses the method of geometry modeling and kinematics simulation based on inverse kinematics equation of the spindle .