微型3-PSP并联机构的工作空间及运动学分析

ANALYSIS THE WORKING SPACE AND KINEMATICS OF THE MICRO 3-PSP PARALLEL MECHANISM

为满足在有限空间内实现对激光光束角度快速调节的需求,提出一种微型3-PSP空间并联机构,其中静平台的直径为Φ50 mm,机构整体高度范围为74 mm^80 mm;应用封闭环矢量法,建立并联机构运动学模型,得到机构运动学逆解;根据并联机构结构的几何特性求解运动学正解;在运动学逆解的基础上,结合驱动杆行程及机构结构参数,利用数值搜索法分析该机构的工作空间,并在Matlab中建立数学模型,绘制其可达工作空间点集;最后利用Solid Works及Adams协同仿真,对3-PSP并联机构进行正运动学仿真,证明机构能够实现三个自由度的运动,且运动平缓,无突变点。

To satisfied the requirement of the laser angle adjustment,this paper proposed a micro 3-PSP parallel robot with a special structure with the diameter of the static platform is 50 mm,the height of the system is about 74 mm-80 mm;Using the‘closed-loop vector method’to set up the inverse kinematics model of the parallel robot.Then get the solution of the inverse kinematics.On the basis of the inverse kinematics solution,the constraint of the shaft movement and the parameters of the mechanism,we get the 3 D working space of the parallel robot via MATLAB.Finally,we simulated the kinematics of the parallel robot by Solid Works and Adams,and the results show that the 3-PSP parallel robot could accomplish three dimensions moving with smooth.