基于球波法的空间并联机构的工作空间快速搜索法研究

Study on Fast Workspace and Search Method of the Parallel Mechanism Via Spherical Wave Method

以3T1R空间并联机构为研究对象,提出1种基于混沌映射算法原理的球波法,并通过此方法对3T1R并联机构的定姿态工作空间与可达工作空间进行求解,同时,通过球坐标搜索法求解机构的定姿态工作空间与可达工作空间。通过对比两种方法,验证了球波法算法的有效性、快速性。

The parallel mechanism of 3 T1 R that can realize movement in the space was taken as the subjects in the study in this paper,spherical wave method for the fast search algorithm of spacial parallel mechanism workspace was putted in the study,it was based on chaotic mapping algorithm. The workspace of 3 T1 R parallel mechanism was analyzed by this way,the workspace of the fixed position and reachable workspace can be solved through the spherical coordinate search method. By comparing two methods,the effectiveness and rapidity of Spherical wave method is proved.