摘要
文章分析了一般结构尺度的平面三自由度并联机构的正解。首先,建立了含有移动副的平面三自由度并联机构运动分析的方程,并将其化解为只含有从动件一个运动位置参数的代数方程(一元六次方程),通过优化迭代计算出六个解;其次,介绍了全为转动副的平面三自由度并联机构的解,可在含有移动副机构解的基础上进行分析;最后,给出了一个算例,说明了求解过程的可行性。
This paper presents a general soluti on to the direct kinematics of planar three-freedom parallel mechanism.First,the kinematics equations of a planar thr ee-freedom parallel mechanism with sliding joints are given,and can be s implified only with a kinematics parameter of the follow er.The equation has six resolutions.Second,the solutions of a planar th ree-freedom parallel mechanism with turning pairs can be s olved on the basis of mechanism with s liding joints.Last,an example is given.
