摘要
对2SPS+UPR并联机构进行了分析研究。运用解析几何中的坐标变换理论,求得了该机构位置反解的显式表达式,利用数值仿真验证了位置反解数据;采用CAD变量几何法确定了该并联机构的工作空间边界曲面,并利用小型CAD软件对工作空间进行了三维可视化描述,从而给出工作空间一种有效的计算方法。
A 2SPS ＋ UPR parallel manipulator was investigated. Its positional inverse expressions were established through the conversion of coordinates, and the result of the forward solution of the manipulator and corresponding numerical examples were verified by numerical simulation. The boundary points were determined and the 3 - dimen sional graphical description was showed by CAD variable geometry technique, then an efficient method for calculating the workspace is derived.
出处
《机械设计与研究》
CSCD
北大核心
2011年第3期20-23,共4页
Machine Design And Research
关键词
并联机构
位置反解
工作空间
CAD变量几何法
parallel manipulator
inverse position
workspace
CAD variable geometry technique
