| 一种3-RPS并联平台机构偏转能力的分析 |
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| 引用本文： | 张立杰,雷超,郭菲,刘思远.一种3-RPS并联平台机构偏转能力的分析[J].燕山大学学报,2012,36(3):196-200. |
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| 作者姓名： | 张立杰 雷超 郭菲 刘思远 |
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| 作者单位： | 燕山大学机械工程学院,河北秦皇岛,066004 |
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| 基金项目： | 河北省自然科学基金资助项目，秦皇岛市科技支撑计划项目 |
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| 摘 要： | 基于3-RPS并联机构的位置反解,在考虑杆长、运动副转角及杆间干涉等约束的情况下,利用搜索法求得了机构动平台相对于定平台运动的姿态工作空间(即偏转能力),研究了动平台姿态工作空间与垂直于定平台的Z向移动位置空间的关系,并分析了机构主要结构参数对动平台偏转能力的影响.
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| 关 键 词： | 3-RPS并联机构 偏转能力 工作空间 |
Deflection capacity analysis of moving platform of a 3-RPS parallel mechanism |
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| ZHANG Li-jie
,
LEI Chao
,
GUO Fei
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LIU Si-yuan.Deflection capacity analysis of moving platform of a 3-RPS parallel mechanism[J].Journal of Yanshan University,2012,36(3):196-200. |
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| Authors: | ZHANG Li-jie LEI Chao GUO Fei LIU Si-yuan |
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| Institution: | (College of Mechanical Engineering,Yanshan University,Qinhuangdao,Hebei 066004,China) |
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| Abstract: | ￡oA three-dimensional workspace of a 3-RPS parallel mechanism is obtained based on its inverse kinematics by considering the parallel bar length,the motion fit corner,and the parallel bar interference.The relationship between the moving platform workspace and the translational position workspace along the normal axis of the base is studied.The influence of the main structural parameters on the deflection capacity of the moving platform is analyzed. |
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| Keywords: | 3-RPS parallel mechanism deflection capacity workspace |
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