两种平移并联机构的轨迹规划与仿真验证

Trajectory Planning and Simulation of Two Kinds of Parallel Mechanisms

对3-RPC和3-PRC两种并联机构进行了结构分析,应用并联机构的逆向运动学分析理论,对两种并联机构动平台的运动轨迹规划进行了分析研究。由齐次坐标变换公式推导出了其运动学反解计算公式,进而确定了动平台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Pro/E建立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。

The structures of 3-PRC and 3-RPC parallel mechanism are analyzed.The movable paltform＇s motion paths of the two kinds of parallel mechanism are studied by using the theory of inverse kinematics of the parallel mechanism.The computation formula of inverse kinematics are deduced according to the homogeneous transformation,then the movement rules exerted on the actuator are achieved when the movable platforms were moving on the desired trajectories.The virtual prototypes of these mechanisms are created in ProE software and the planning trajectories are verified through simulation in ADAMS at last.