6-3-3并联机构工作空间分析与仿真

提出了6-3-3并联机构在给定姿态下工作空间分析的计算机仿真方法,该方法要点是：对给定的三维空间,不需拆解支链杆,只需使用三维搜索法遍历该空间,基于该机构逆位移解,结合滑块运动范围、球铰链半锥角最大值、奇异性条件和支链干涉动画检验,即可排除该三维空间中位姿不可能点,同时显示其中位姿可能点集——工作空间边界三维图形,作为推论还给出了使用工作空间截交面检验其内部是否存在空腔的方法。为6-3-3并联机构的设计和轨迹规划提供了基础。

Workspace Analysis and Simulation of 6-3-3 Parallel Mechanism

A computer simulation method for workspace analysis of 6-3-3 parallel mechanism on given orientation condition was proposed, and the major idea of the method is that it removes impossible pose points from an given three- dimensionalspace according to inverse displacement solution of the parallel mechanism and by relating moving range of sliders, limit of ball-joint angle and condition of singularity with animation test of links interference, and displays set of possible pose points in the given three-dimensional-space, namely dimensional graph of its workspace boundary. Above-mentioned work only needs to use three-dimensional search method for traversal of the given three-dimensional-space but needs not to dismantle links for workspace analysis of the mechanism, in addition, an inferential method for testing of interior cavity about the workspace was proposed by means of section of the workspace. The investigation provided basis for design and trajectory planning of the mechanism.