3-R‖R‖C三平移并联机构的位置求解及静力学特性分析

Kinematics solution and statics characteristic analysis of 3R//R//C translational parallel mechanism

对新型三平移并联机器人机构,进行了运动学分析和静力学分析,包括:运用矢量法求解了该机构的位置反解解析解,分析了该机构输出与输入的运动解耦性;运用基于序单开链法的一维搜索法求解了该机构的位置正解数值解;进一步地,采用力雅可比矩阵的方法对该机构进行了静力学分析,得到了输入力矩与输出外力的关系;最后运用MAT-LAB软件进行了运动学、静力学特性仿真分析。为该机构的结构设计与分析提供了理论基础。

The kinematics analysis and statics analysis of a- bout a 3-RRC translational parallel mechanism which is proposed by author has been done, including the inverse analytic solution for the mechanism was obtained by the solving of inverse solutions using vector method as well as its input and outpilt movement decoupling was analyzed. The forward numerical solution of the mechanism was solved by applying the one dimensional search method of the pro- posed ordered single-opened-chain method. Further more, force Ja- cobian matrix method is taken to carry out the statics analysis to get the relationship between input torques and the output external forces acted on the moving platform. At last, the MATLAB software is used to simulate to carry out the simulation analysis of kinematics and statics characteristics, having supplied the basis of theory for actual applications.