摘要
针对一种复杂的3-RRCR空间并联机构,用约束螺旋求解法分析了该机构的自由度,并对机构各分支以及动平台的运动进行了分析。在此基础上,用UG构建了该机构虚拟样机并进行运动仿真,验证了螺旋理论运动分析结果的正确性,为将来原型样机设计、控制等研究工作提供了相关的参考依据。
A kind of 3-RRPR spatial parallel mechanism is introduced in this paper.Through deep analysis of the degree-of-freedom and the movement of the platform using screw theory,the 3D virtual prototype modeling of this mechanism based on UG is developed.Kinematics analysis and simulation are also carried out accordingly.From the simulation results,we can see that the proposed kinematics analysis based on screw theory is correct.Kinematics analysis and simulation provide reference for the design and control of the prototype in the future.
出处
《南阳理工学院学报》
2011年第6期54-57,共4页
Journal of Nanyang Institute of Technology
