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3-RPRS并联机构的运动学及仿真研究

郝亮亮 李虹 李瑞琴 随磊 李晓润

郝亮亮, 李虹, 李瑞琴, 随磊, 李晓润. 3-RPRS并联机构的运动学及仿真研究[J]. 机械科学与技术, 2016, 35(10): 1544-1549. doi: 10.13433/j.cnki.1003-8728.2016.1012
引用本文: 郝亮亮, 李虹, 李瑞琴, 随磊, 李晓润. 3-RPRS并联机构的运动学及仿真研究[J]. 机械科学与技术, 2016, 35(10): 1544-1549. doi: 10.13433/j.cnki.1003-8728.2016.1012
Hao Liangliang, Li Hong, Li Ruiqin, Sui Lei, Li Xiaorun. Research on Kinematics and Simulation of 3-RPRS Parallel Mechanism[J]. Mechanical Science and Technology for Aerospace Engineering, 2016, 35(10): 1544-1549. doi: 10.13433/j.cnki.1003-8728.2016.1012
Citation: Hao Liangliang, Li Hong, Li Ruiqin, Sui Lei, Li Xiaorun. Research on Kinematics and Simulation of 3-RPRS Parallel Mechanism[J]. Mechanical Science and Technology for Aerospace Engineering, 2016, 35(10): 1544-1549. doi: 10.13433/j.cnki.1003-8728.2016.1012

3-RPRS并联机构的运动学及仿真研究

doi: 10.13433/j.cnki.1003-8728.2016.1012
基金项目: 

国家自然科学基金项目(51275486)资助

详细信息
    作者简介:

    郝亮亮(1988-),硕士,研究方向为机械与机构的动态设计与优化,812060438@qq.com

    通讯作者:

    李虹(联系人),副教授,硕士生导师,lihong1000@nuc.edu.cn

Research on Kinematics and Simulation of 3-RPRS Parallel Mechanism

  • 摘要: 以3-RPRS并联机构为研究对象,机构动平台3个顶点之间的长度为约束条件,建立约束方程,研究该并联机构正解的封闭解形式;运用欧拉角描绘物体运动的Z-Y-X型坐标变换法将动平台顶点坐标转换到定坐标系中,求解了位置反解。对正反解结果进行数值验证,并进行了ADAMS运动学仿真,验证数值计算正反解的结果是正确的。最后,研究了该机构在跳跃机器人关节中的应用,并进行了运动学的仿真,结果表明该机构有类似蛙跳的功能。
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出版历程
  • 收稿日期:  2014-12-05
  • 刊出日期:  2016-10-05

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