3-RPR并联机构的位姿分析及其运动仿真

Position and Orientation Analysis and Motion Simulation of 3-RPR Parallel Mechanisms

以3-RPR并联机构为研究对象,对机构进行了运动分析,计算机构的位姿正解和反解,得出机构的六组解,然后用UG软件对机构进行运动分析仿真,分别对于单轴驱动和三轴驱动下机构的动平台的位移,速度和加速度的分析,为该机构的以后的分析研究和开发奠定了基础。

In this paper, the 3-RPR parallel mechanism is taken as a research object. The position and pose of 3RPR parallel mechanism are analyzed. The positive solution and inverse solution of the mechanism position are obtained. Getting six group of solutions, then make the motion simulation through software UG, displacement, velocity and acceleration curve are obtained by individual axle drive and three axis drive. The results provide a basis for further research and development of the 3-RPR parallel mechanism.