摘要
应用旋量理论对一种3-US并联机构进行了运动学分析。首先对该并联机构进行位置分析,根据机构的几何约束条件,将机构的位置分析转化为对三个非线性几何约束方程的求解,运用数值计算方法对方程进行了求解。然后应用旋量理论建立了该机构的正逆速度分析方程,并通过实例说明了这种方法的应用。最后应用ADAMS软件对3-US并联机构进行仿真,并与本文方法计算结果对比,验证了本文方法的精确性。
In this paper, the kinematic analysis of a 3-US parallel mechanism is studied by screw theory. Position analysis is presented via three nonlinear equations which are constructed based on the geometric constraints of the mechanism. Velocity analysis is then carried out using theory screw leading to the Jacobian of the proposed mechanism. The equations are further computed with numerical method and two numerical examples are provided so as to illustrate the efficiency of the method. The numerical results of kinematics analysis are proved to be appropriate compared with the simulation results obtained from the commercial software ADAMS.
出处
《机械设计与研究》
CSCD
北大核心
2014年第2期8-11,共4页
Machine Design And Research
基金
国家自然科学基金资助项目(51175366)
天津市科技计划重点资助项目(12JCZDJC27700)
