一种平面对称3-SPR并联机构平台尺寸和工作空间的关系分析

Analysis about the Relationship Between Platform Size and Workspace of a Plane Symmetry 3-SPR Parallel Manipulator

分析了一种平面对称3-SPR并联机构平台尺寸和工作空间的关系。首先简要介绍了平面对称3-SPR并联机构的结构;其次简述了采用CAD变量几何技术求解并联机构工作空间的步骤,并从位置空间和姿态角两个方面分析并模拟了平面对称3-SPR并联机构的工作空间,定义了衡量工作空间的性能指标;最后选择动平台边长和动平台与定平台边长之比这两个典型平台尺寸参数作为变量,得到了工作空间随平台尺寸变化的规律。研究结果不仅有助于深入理解该平面对称3-SPR并联机构的特性,而且为样机制造特别是尺寸确定提供了一定的参考。

The relationship between platform size and workspace of a plane symmetry 3-SPR parallel manipulator has been analyzed.Firstly,the structure of this plane symmetry 3-SPR parallel manipulator was reviewed briefly.Secondly,steps of solvingparallel manipulator workspace using the CAD variable geometry technique were introduced simply;the workspace was analyzed and simulated from two aspects ：positional workspace and rotational angle ;indices measuring the workspace were defined.Lastly,choosing typical parameters of platform size as variables,that is,side length ofthe movingplatform and the side length ratio ofthe movingplatform and the base,the laws about workspace changingwere derived,which are helpful to deeply understand this plane symmetry 3-SPR parallel,but also offer some references to prototype manufacture and dimension determination.