一种新型混联机构设计及位置逆解分析

Design and Inverse Kinematics Analysis for a Novel Hybrid Mechanism

以一种新型2T2R大摆角(3-RPR+R)&UPS混联机构构型为基础进行研究,介绍机构组成。通过螺旋理论推导了机构的自由度,且通过G-K公式验证了所得自由度。利用空间坐标变换法建立位置逆解方程,用MATLAB求解方程,计算出并联机构的位置逆解。将建好的三维模型导入ADAMS中添加运动副、添加点运动激励使其实现假定的运动形式,并进行运动仿真。结果表明可实现给定运动,验证了该混联机构的合理性。

With a large swing angle 2T2R parallel mechanism （3-RPR＋R）＆ UPS as the object for research, the hybrid mechanism was introduced. The degree of freedom of the mechanism was deduced by using the helix theory and it was verified by the G-K formula. The position inverse solution was established by using the spatial coordinate transformation method and it was calculated by solving the equation with MATLAB. The built 3D model was imported into ADAMS including motion pairs and point movements to achieve the assumed motion form,and motion simulation was performed.The results show that the given motion can be realized, and the rationality of the hybrid mechanism is verified.