对称3-PRR并联机构的运动学分析与仿真

李凯; 张赤斌

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

李凯,
张赤斌^,

1.
东南大学机械工程学院, 南京 211189

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

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- 文章访问数: 234
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- PDF下载量: 19
- 被引次数: 0
出版历程
- 收稿日期: 2013-08-22
- 刊出日期: 2015-04-05

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

Li Kai,
Zhang Chibin^,

1.
School of Mechanical Engineering, Southeast University, Nanjing 211189

摘要

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。
- 3-PRR并联机构 /
- 运动学模型 /
- 位置正逆解 /
- 运动学仿真
Abstract: A kinematics model for the symmetric 3-PRR planar parallel mechanism is established.The kinematic equations are derived by using the coordinate transformation method, and the forward and inverse position solutions are solved by the theoretical method and Matlab method. In solving the forward position solutions, half-angle formula method is adopted. The kinematics simulation of the mechanism via Pro/E's Mechanism module is carried out, and the simulation trajectory and path planning of the center of the moving platform are analyzed and compared, which verifies the correctness of the modeling methods and feasibility of institutions.
- acceleration /
- angular velocity /
- forward and inverse position solutions /
- inverse problems

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参考文献(20)

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