3-PRP平面并联机构运动学分析

Analysis on Kinematics of 3-PRP Planar Parallel Mechanism

介绍了一种具有两平动和一转动的平面三自由度并联机构。首先,对该并联机构进行位姿分析,并且建立位姿正解和逆解方程,求解出其位姿正、逆解;其次,利用MATLAB软件编程对一组实验数据进行计算,求出位姿正解和逆解的结果进一步验证方程的正确性;最后,根据位姿正解和逆解方程分别求解出机构输入和输出的速度和加速度。研究结果表明3-PRP机构结构简单,易于控制和驱动,是对3-RRR类平面并联机构的重要补充与深化。为该机构的工作空间、轨迹规划、优化设计等性能的研究提供了理论基础。

A kind of 3--DOF planar parallel mechanism which has two translational and one rotational is introduced. Firstly, the position and posture analysis of the parallel mechanism is conducted, its positive and inverse solution equations are established, and then the position positive and inverse so- lution are solved. Secondly, by using the MATLAB to calculate a group of experimental data, the re- sults can be used to test the correctness of equations. At last, according to the positive and inverse solutions equations, the velocity and acceleration of mechanism input and output are solved. The results show that the structure of 3--PRP mechanism is simple and also can be easy to control and drive, meanwhile, the researching results established a certain theoretical basis for the performance research on the mechanism such as workspace, trajectory planning and optimum design.