摘要
本文设计了一种新型四自由度并联机构,以动平台中心点为参考点进行了运动学逆解分析,采用边界搜索法分析并联机构定姿态时的工作空间,获得工作空间的三维图形。研究该并联机构的支链长度、动静平台半径和运动副转角等结构参数和运动参数对其工作空间大小的影响,为机构的参数优化提供理论依据。
This paper designs a 4-DOF parallel mechanism.The inverse kinematics is analyzed based on the center of moving platform,while boundary search method is adopted to analyze the constant orientation workspace of parallel mechanism in terms of getting 3-D images of it.Finally,factors like structural parameters and motion parameters such as length of branched chain,platform radius of dynamic and static and motion angle which affect the work space are analyzed to provide theoretical basis for parameters optimization of the mechanism.
出处
《自动化技术与应用》
2015年第6期51-56,共6页
Techniques of Automation and Applications
关键词
并联机构
逆解
边界搜索方法
工作空间
参数
parallel mechanism
inverse kinematics
boundary search method
workspac
parameter
