3-PRS机构工作空间的蒙特卡洛方法分析

Analysis on workspace of 3-PRS mechanism based on monte carlo method

工作空间分析是并联机构设计与评价中极其重要的工作.针对3-PRS并联机构工作空间描述及求解复杂的问题,采用蒙特卡洛方法进行工作空间的求解及分析.对运动特性及工作空间进行了分析,给出了计算工作空间的方法,并给出了具体的实现步骤.最后用计算实例验证了该方法的有效性.结果表明,蒙特卡洛方法研究3-PRS工作空间编程简单,并且工作空间中点的均匀性好;刀具的长度对工作空间的范围有很大影响;3个姿态角,X,Y的坐标等信息可以展现在一个二维图上,直观形象,方便查询.

The workspace analysis is an important task in the design and assessment of parallel mechanism.Aiming at 3-PRS complexity of workspace description and the computation of parallel mechanism,Monte Carlo method is adopted to compute and analyze the workspace.The movement and workspace feature were analyzed,the computing algorithm to the workspace utilization was presented,and the detailed computing procedure was also shown.The algorithm is finally verified through a computing example.The result shows that （1） the analysis of 3-PRS workspace has features of conveniently programming and uniform points in the workspace,（2） the tool length has a heavy effect on the workspace,and （3） the information of three orientation angles and X,Y coordination values can be presented in a two-dimension graph that is intuitive,visualizable and easy to be enquired.