3-SPS/PPS并联机构运动学分析

Kinematics Analysis of 3-SPS/PPS Parallel Mechanism

为了实现一种空间上三维转动和两维平移的运动形式,提出了一种3-SPS/PPS为构型的五自由度并联机构,该机构的驱动支链为SPS支链,约束支链为PPS支链。应用螺旋理论对3-SPS/PPS并联机构的支链进行了理论分析,对并联机构的自由度进行计算,求出了并联机构位置方程的表达式。通过三维建模软件建立了3-SPS/PPS并联机构的模型,利用ADAMS软件进行运动仿真分析,从而得到了3-SPS/PPS并联机构在逆解下的位移曲线变化图,同时得到了在正解下的位移、速度和加速度运动曲线图,验证了3-SPS/PPS并联机构的自由度,为并联机构的应用提供了理论参考。

To realize the motion form of three-dimensional rotation and two-dimensional translation in space,a 5-DOF(five degrees of freedom)parallel mechanism with a 3-SPS/PPS configuration was proposed in which the driving chain of the mechanism is SPS branch and the constraint chain is PPS branch.Based on the screw theory,the branch chain of the 3-SPS/PPS parallel mechanism was analyzed,the degree of freedom of the parallel mechanism was calculated,and the expression of the position equation of the parallel mechanism was obtained.The model of 3-SPS/PPS parallel mechanism was established by three-dimensional modeling software,and the motion simulation analysis was carried out by using ADAMS software,from which the variation pattern of the displacement curve of 3-SPS/PPS parallel mechanism under inverse solution was obtained,and the variation curves of displacement,velocity,acceleration under forward solution were created,and the degree of freedom of 3-SPS/PPS parallel mechanism was verified.Therefore,this study provides a theoretical reference for the application of parallel mechanism.