| 重载三自由度旋转并联平台的位置逆解及其分析 |
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| 引用本文： | 陶建峰,朱野,闫述,王旭永.重载三自由度旋转并联平台的位置逆解及其分析[J].上海交通大学学报,2007,41(4):546-550. |
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| 作者姓名： | 陶建峰 朱野 闫述 王旭永 |
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| 作者单位： | 上海交通大学,机械与动力工程学院,上海,200240 |
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| 摘 要： | 介绍了一种重载车辆运动模拟用三自由度旋转并联平台的结构与特点,该平台具有3个独立的角度运动参数,但平台在绕航向、俯仰和侧倾三轴转动时,会产生附加的平移运动,在一定的角度范围内附加平移运动的量值很小,因而可以用作车辆运动模拟器.讨论了其中一种典型结构的位置逆解方法,并推导了相应的计算公式.通过数值计算,分析了结构参数对附加运动量值的影响,并得出了相关结论.
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| 关 键 词： | 三自由度 并联机构 运动模拟器 位置逆解 |
| 文章编号： | 1006-2467(2007)04-0546-05 |
| 修稿时间： | 2006-04-11 |
An Inverse Positions Solution of 3-Rotational-DOF Parallel Driven Platform with Heavy Load |
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| TAO Jian-feng,ZHU Ye,YAN Shu,WANG Xu-yong.An Inverse Positions Solution of 3-Rotational-DOF Parallel Driven Platform with Heavy Load[J].Journal of Shanghai Jiaotong University,2007,41(4):546-550. |
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| Authors: | TAO Jian-feng ZHU Ye YAN Shu WANG Xu-yong |
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| Institution: | School of Mechanical Eng. , Shanghai Jiaotong Univ. , Shanghai 200240, China |
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| Abstract: | The configuration and characteristics of a 3-rotational-DOF parallel driven platform for heavy load vehicles' motion simulation were introduced.The parallel driven platform has three independent(rotational) DOF.While the platform rotates round the roll,pith and yaw axis,it translates along the fixed X,Y and Z axis.Because the translational displacements are very small when the rotational angles are(limited,) this platform can be used as 3-rotational-DOF vehicle motion simulator.The inverse kinematics solution of the platform with typical configuration was discussed,and the calculation formulae were deduced.The effect of structural parameters on the translational displacements was analyzed by the numerical(simulation.) |
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| Keywords: | three degree of freedom parallel mechanism motion simulator inverse kinematics solution |
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