| 正交结构6-PP^＋S并联机构的工作空间分析 |
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| 引用本文： | 李庆兴,刘淑英,范顺成,张建军.正交结构6-PP^＋S并联机构的工作空间分析[J].天津大学学报(自然科学与工程技术版),2009,42(6):560-565. |
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| 作者姓名： | 李庆兴 刘淑英 范顺成 张建军 |
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| 作者单位： | 河北工业大学机械工程学院,天津,300130
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| 基金项目： | 天津市自然科学基金，河北省自然科学基金 |
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| 摘 要： | 为简化机构运动学模型，提出了一种正交结构6-PP^＋S并联机构，利用封闭矢量法建立了运动学方程．基于机构运动学方程和运动副的结构约束，给出了基于运动学模型的动平台工作空间约束模型，求出了工作空间的形状，研究了动平台在给定机构参数下不同姿态的工作空间，并进一步考察了机构参数的变化对工作空间的影响．这些对正交结构6-PP^＋S并联机构的应用具有指导意义．
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| 关 键 词： | 正交结构 6-PP+S 并联机构 工作空间 约束模型 |
Workspace Analysis for 6-PP+S Parallel Mechanism with Perpendicular Structure |
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| LI Qing-xing,LIU Shu-ying,FAN Shun-cheng,ZHANG Jian-jun.Workspace Analysis for 6-PP+S Parallel Mechanism with Perpendicular Structure[J].Journal of Tianjin University(Science and Technology),2009,42(6):560-565. |
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| Authors: | LI Qing-xing LIU Shu-ying FAN Shun-cheng ZHANG Jian-jun |
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| Institution: | (School of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, China) |
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| Abstract: | To simplify the mechanism kinematics model,a type of 6-PP^＋S parallel mechanism with perpendicular structures was proposed and the kinematics equations were built with the method of closed vectors. Based on the kinematics equations and the constraint of joints structures,the constraint model of its mobile platform workspace was given and the shape of the workspace was obtained. Then the workspace in different orientations was derived with the given mechanism parameters. How the change of mechanism parameters influences the workspace was further studied. The research can be used for the application of the 6-PP^＋S parallel mechanism. |
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| Keywords: | 6-PP S |
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