摘要
针对用于气体冲击射流测试等特殊应用场合的试验平台,研究了一种非对称3-(2SPS)并联机构,通过位置分析,得到了该机构位姿的唯一反解。同时,根据约束条件,利用边界搜索法得到了机构的可达工作空间边界点,并通过MATLAB软件绘制出了工作空间的三维图形以及二维截面图。为该机构在气体冲击射流试验平台中的实际开发应用提供参考。
For the test platform used in special applications such as jet flow test, a asymmetrical 3-DOF parallel manipulator is in- vestigated, and the negative solution is given out. According to the constraint conditions, the boundary diagram of workspace is worked out and by use of MATLAB software, the three-dimensional chart and the two-dimensional cress-section chart are ploUed. The result can give a reference to the development and application of jet flow test platform.
出处
《机械制造与自动化》
2013年第5期145-147,156,共4页
Machine Building & Automation
关键词
并联机构
可达工作空间
非对称
parallel manipulator
reachable workspace
asymmetrical
