| 3-RRCR并联机构运动分析与仿真 |
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| 引用本文： | 赵华,刘宏伟.3-RRCR并联机构运动分析与仿真[J].南阳理工学院学报,2011,3(6):54-57. |
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| 作者姓名： | 赵华 刘宏伟 |
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| 作者单位： | 南阳理工学院,河南南阳,473004 |
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| 摘 要： | 针对一种复杂的3-RRCR空间并联机构,用约束螺旋求解法分析了该机构的自由度,并对机构各分支以及动平台的运动进行了分析.在此基础上,用UG构建了该机构虚拟样机并进行运动仿真,验证了螺旋理论运动分析结果的正确性,为将来原型样机设计、控制等研究工作提供了相关的参考依据.
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| 关 键 词： | 螺旋理论 3-RRCR并联机构 虚拟样机 运动仿真 |
KINEMATICS ANALYSIS & SIMULATION FOR 3-RRCR PARALLEL MECHANISM |
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| ZHAO Hua
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LIU Hong-wei.KINEMATICS ANALYSIS & SIMULATION FOR 3-RRCR PARALLEL MECHANISM[J].Journal of Nanyang Institute of Technology,2011,3(6):54-57. |
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| Authors: | ZHAO Hua LIU Hong-wei |
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| Institution: | (Nanyang Institute of Technology,Nanyang 473004,China) |
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| Abstract: | A kind of 3-RRPR spatial parallel mechanism is introduced in this paper.Through deep analysis of the degree-of-freedom and the movement of the platform using screw theory,the 3D virtual prototype modeling of this mechanism based on UG is developed.Kinematics analysis and simulation are also carried out accordingly.From the simulation results,we can see that the proposed kinematics analysis based on screw theory is correct.Kinematics analysis and simulation provide reference for the design and control of the prototype in the future. |
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| Keywords: | screw theory 3-RRCR parallel mechanism virtual prototype kinematics simulation |
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