摘要
以对称3-PRR平面并联机构为研究对象,通过矢量分析建立了3-PRR并联机构的运动学模型。采用坐标变换法建立了机构的运动学方程,并对机构的位置正逆解进行了理论求解和Matlab求解,在理论求解机构位置正解时使用了半角公式法。运用Pro/E的Mechanism模块对机构进行了运动学仿真,并将动平台中心点的仿真轨迹与规划的路径进行了比较,验证了建模方法的正确性及机构的可行性。
A kinematics model for the symmetric 3-PRR planar parallel mechanism is established. The kinematic equations are derived by using the coordinate transformation method,and the forward and inverse position solutions are solved by the theoretical method and Matlab method. In solving the forward position solutions,half-angle formula method is adopted. The kinematics simulation of the mechanism via Pro / E's Mechanism module is carried out,and the simulation trajectory and path planning of the center of the moving platform are analyzed and compared,which verifies the correctness of the modeling methods and feasibility of institutions.
出处
《机械科学与技术》
CSCD
北大核心
2015年第4期518-521,共4页
Mechanical Science and Technology for Aerospace Engineering
关键词
3-PRR并联机构
运动学模型
位置正逆解
运动学仿真
acceleration
angular velocity
forward and inverse position solutions
inverse problems
kinematics model
kinematics simulation
mathematical models
mathematical transformations
MATLAB
matrix algebra
mechanisms
motion planning
robots
3-PRR parallel mechanism
trajectories
velocity
