一种四自由度混合型并联平台机构的工作空间分析

Analysis for Workspace of 4-DOF Mixed Parallel Platform Mechanism

对 3 TRT/SPS四自由度混合型并联平台机构进行了分析研究。根据 3 TRT/SPS机构的位置反解方程 ,应用优化方法 ,确定了机构工作空间的边界 ,对机构工作空间的形状和体积的大小进行了分析计算 ,并讨论了机构参数对工作空间的影响。

A sort of 4-DOF planar parallel mechanism,3-TRT/SPS is analyzed and studied. According to the position negative solution's equation of the mechanism,the boundary of workspace of the mechanism is determined by using optimization method,the volume and shape of the workspace are calculated and analyzed,and the influence of the changes of workspace's volume made by structure parameter is discussed.