6-PPPS正交六自由度并联机构的姿态空间设计

Orientation Space Design of 6-PPPS Orthogonal 6-Dof Parallel Mechanism

基于姿态参数给出了姿态空间的新定义,并给出了一种姿态能力的评价指标;针对新型6-PPPS并联机构的结构特点,分析了该构型以Z-Y-X欧拉角为姿态参数的姿态空间,分析结果可用于指导机构设计和初步确定机构姿态设计参数的许可范围,避免设计参数的不合理。

A new definition for orientation space was given based on parameters of orientation, a kind of evaluation indicator about orientation capabilities was given at the same rime. Analysis about orientation space of a new orthogonal 6-PPPS parallel mechanism was given. The orientation space was showed by Z-Y-X Euler angle parameters. The results are used for design analysis of the mechanism. Permissive range of design orientation parameter can be determined preliminary, avoiding the irrationality of the design parameters.