3-TPT并联机构运动性能研究

Sports Performance of the 3-TPT Parallel Mechanism

以3-TPT并联机构作为研究对象,建立该机构的运动学正、反解方程,求出该机构的雅可比矩阵及其逆矩阵,并在此基础上运用MATLAB软件和LabVIEW软件对该机床的奇异性、灵巧性和平稳性性进行仿真分析。仿真结果表明:3-TPT并联机构不存在奇异位形,并且拥有较好的灵巧性和平稳性,这为并联机构的最优化设计及控制系统设计提供了理论基础,并为确定工作形位和机构尺寸提供了设计依据。

The 3- TPT parallel mechanism was studied. Through the establishment of positive solutions and negative solutions of the kinematics equations, the Jacobian matrix and its inverse matrix of the mechanism will be calculated. And on this basis, the singularity of the machine, the dexterity and the stationarity were simulated and analyzed by using the MATLAB software and the LabVIEW soflware. The results show that the singularity of 3-- TPT parallel mechanism doesn＇t exist and also have better dexterity and stationarity. These provide a theoretical basis for the optimal design and control system design of parallel mechanism, and offer a design basis to determining body size and shape and position of work.