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对称3-PRR并联机构的运动学分析与仿真

李凯 张赤斌

李凯, 张赤斌. 对称3-PRR并联机构的运动学分析与仿真[J]. 机械科学与技术, 2015, 34(4): 518-521. doi: 10.13433/j.cnki.1003-8728.2015.0406
引用本文: 李凯, 张赤斌. 对称3-PRR并联机构的运动学分析与仿真[J]. 机械科学与技术, 2015, 34(4): 518-521. doi: 10.13433/j.cnki.1003-8728.2015.0406
Li Kai, Zhang Chibin. The Kinematic Analysis and Simulation of the Symmetry 3-PRR Parallel Mechanism[J]. Mechanical Science and Technology for Aerospace Engineering, 2015, 34(4): 518-521. doi: 10.13433/j.cnki.1003-8728.2015.0406
Citation: Li Kai, Zhang Chibin. The Kinematic Analysis and Simulation of the Symmetry 3-PRR Parallel Mechanism[J]. Mechanical Science and Technology for Aerospace Engineering, 2015, 34(4): 518-521. doi: 10.13433/j.cnki.1003-8728.2015.0406

对称3-PRR并联机构的运动学分析与仿真

doi: 10.13433/j.cnki.1003-8728.2015.0406
详细信息
    作者简介:

    李凯(1990-),硕士研究生,研究方向为智能控制,电子精密机械技术,likai_seu@163.com

    通讯作者:

    张赤斌,教授,硕士生导师,chibinchang@aliyun.com

The Kinematic Analysis and Simulation of the Symmetry 3-PRR Parallel Mechanism

  • 摘要: 以对称3-PRR平面并联机构为研究对象,通过矢量分析建立了3-PRR并联机构的运动学模型。采用坐标变换法建立了机构的运动学方程,并对机构的位置正逆解进行了理论求解和Matlab求解,在理论求解机构位置正解时使用了半角公式法。运用Pro/E的Mechanism模块对机构进行了运动学仿真,并将动平台中心点的仿真轨迹与规划的路径进行了比较,验证了建模方法的正确性及机构的可行性。
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出版历程
  • 收稿日期:  2013-08-22
  • 刊出日期:  2015-04-05

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