3-PPR平面并联机构的工作空间分析

Analysis of Workspace of the 3-PPR Planar Parallel Manipulator

对3-PPR平面并联机构利用闭环矢量方法进行了位置正解和位置逆解的分析,建立了该机构的位置正、逆解方程,求出了简单位置正解和逆解的结果。采用MATLAB编程得出了该机构的工作空间,发现输入量的伸长范围和中间杆的伸长范围是影响工作空间形状和大小的主要因素。该研究为3-PPR平面并联机构的动力学研究、优化设计等进一步研究奠定了一定的理论基础。

The analysis of position positive solution and inverse solution o{ the 3--PPR planar par-allel manipulator is carried out by using the closed--loop vector method and its positive and inverse so- lution equations are established,the result of simple position positive solution and inverse solution are solved. In addition, the workspace is obtained by using MATLAB,and the results show that the range of the input variables changes and the range of the middle links changes are the important factors to the shape and size of the workspace. A certain theoretical basis for the further dynamics research and opti- mizationdesign of the 3--PPR planar parallel manipulator is established.