风洞模型并联机构工作空间分析与仿真

以风洞模型并联机构为研究对象，在给定的姿态下,提出基于风洞模型并联机构输出端工作空间的计算仿真方法，即基于风洞模型并联机构位置反解，结合风洞模型并联机构输入端滑块的运动范围约束和球铰半锥角的最大值的约束，采用边界搜索法确定该机构的工作空间边界。并且分析了该机构在某给定姿态下，输出端的平动工作空间、转动工作空间以及与机构末端相连接的物体分别做俯仰运动、偏航运动、滚转运动时的工作空间，为并联机构的结构设计和研究提供了有力支持。

Workspace analysis and simulation of a 6-PSS parallel wind tunnel model positioning mechanism

We have proposed a method of workplace simulation of the 6-PSS parallel wind tunnel model positioning mechanism.The method is based on an inverse displacement solution of the 6-PSS parallel wind tunnel model positioning mechanism This paper analyzes the main factors influencing the workplace of the 6-PSS parallel wind tunnel model positioning mechanism,such as the moving range of the sliders and the limits of the ball-joint angle.The method displays a set of possible position points in the given three-dimensional-space,and finally meshes with the dimensional graph of its workspace boundary.The workplace of the 6-PSS parallel wind tunnel model positioning mechanism has been analyzed under different conditions.The method provides a strong foundation for the design of parallel mechanisms.