摘要
利用螺旋理论对具有三角平台的3-PRC并联机构进行了运动性分析,应用并联机构逆运动学分析理论,对3-PRC并联机构动平台的运动轨迹进行了分析研究。由齐次坐标变换公式推导出其运动学反解计算公式,进而确定了动平台上某一点按预期轨迹运动时应在原动件上施加的运动规律。最后,借助UG创建了该机构的装配模型,通过ADAMS仿真对所规划的运动轨迹进行了验证。
This paper analysed the motility of a new triangular-platformed 3 -PRC parallel manipulator with screw theory, and the movable platform's motion path of the 3 -PRC parallel mechanism was studied by using the theory of inverse kinematics of the parallel mechanism. The computation formula of inverse kinematics was deduced according to the homogeneous transformation, then the movement rules exerted on the actuator was achieved when one point of movable platform is moving on the desired trajectory. The virtual prototype of this mechanism was created in UG software and at last the planning trajectory was verified through simulation in ADAMS.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2007年第9期126-129,共4页
Transactions of the Chinese Society for Agricultural Machinery
基金
山东省自然科学基金资助项目(项目编号:Y2006F59
Y2006G17)
山东省教育厅项目(项目编号:J05C14)
山东理工大学科研基金资助项目(项目编号:2004KJM05)
关键词
并联机构
位置反解
轨迹规划
虚拟样机技术
Parallel mechanisms, Inverse position, Trajectory planning, Virtual prototype technology