摘要
提出了一种新型空间三自由度并联机构,该机构由动平台、静平台和三条支路组成,其中一支路为PRR,另两支路为UPS结构,其优点是结构简单、耦合度低。运用序单开链法建立了该机构的一维位置相容性方程,通过一维搜索求得位置正解的所有实数解,数值实例对其进行了验证。
A new spatial parallel mechanism with three degrees of freedom is presented,which is made up of moving platform,fixed base and three legs. The structure of one leg is PRR,and the other two are UPS. It is simply constructed and has low coupled degree. A one-dimension compatible displacement equation can be deduced using ordered-sac method,and then all the real solutions can be obtained through one-dimension searching algorithm. The numeric result testifies the validity of the method.
出处
《机械设计与制造》
北大核心
2008年第7期15-16,共2页
Machinery Design & Manufacture
基金
国家自然科学基金项目(50275070)
关键词
空间
并联机构
位置正解
单开链
Spatial
Parallel mechanism
Forward displacement analysis
Single-opened-chain
