三自由度并联机构位置和运动分析及仿真

Position and Kinematics Analyses and Simulation of a 3-DOF Parallel Mechanism

分析了一种两平移一转动三自由度并联机构,得到该机构位置正反解析解,采用求导法得到其一阶和二阶运动影响系数。利用运动影响系数对该机构进行了速度和加速度分析,并在ADAMS软件上进行仿真,验证了该理论分析的正确性。同时,提供了该机构在中医推拿方面的具体应用实例。

A 3-DOF parallel mechanism with two translational and one rotational degree of freedom was analyzed in this paper. The solutions for both inverse and direct kinematics were obtained and its first and second order influencing coefficients were derived by the derivative method. The velocities and accelerations were analyzed by using the method of kinematic influencing coefficients. The dynamic simulation was conducted using a software code of ADAMS, which verified the correctness of the theoretical inference. The results provided a theoretical base for the practical uses of the parallel mechanism. At the same time, a practical example of the mechanism used for Chinese massage was provided.