摘要
提出一种采用球面2自由度五杆作为驱动装置的3-UrSR并联机构。对该机构自由度进行了计算,对机构的位置反解进行了分析和研究,并列出了正解的约束方程组。最后用反解验证了正解的正确性,给出了该机构的位姿分析的数值仿真实例及图形。
A parallel mechanism named 3-UrSR was proposed.It used 2-DOF spherical five-bar mechanism as the compound drive device.The mechanism freedoms were calculated,and the mechanism inverse solution was analyzed.The equations of forward solutions to positions were established.At last,the results of forward solutions was numerical verified by inverse solutions,and the simulation example and figure of mechanism positional posture numerical were given.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2011年第12期215-219,共5页
Transactions of the Chinese Society for Agricultural Machinery
基金
国家自然科学基金资助项目(50975144)
关键词
并联机构
6自由度
位置正反解
空间分析
Parallel mechanism
6-DOF
Position forward and inverse solutions
Workspace analysis
