| 3-RPS并联机构奇异位形及工作空间研究 |
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| 引用本文： | 鲁开讲,牛禄峰,刘亚茹,徐新博.3-RPS并联机构奇异位形及工作空间研究[J].农业机械学报,2007,38(5):143-146. |
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| 作者姓名： | 鲁开讲 牛禄峰 刘亚茹 徐新博 |
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| 作者单位： | 宝鸡文理学院机电工程系,721007,陕西省宝鸡市 |
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| 摘 要： | 提出一种求解并联机构无奇异位形工作空间的方法。通过分析3-RPS并联机构在奇异位形时动平台的微分运动与结构约束及关节约束的关系，得到机构奇异位形判别方程和奇异位形曲面方程。探索了工作空间边界，综合分析了机构奇异位形与工作空间的关系。合理选择机构结构参数和关节变化范围，得到了无奇异位形的工作空间。
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| 关 键 词： | 并联机构 微分运动 奇异位形曲面 工作空间 |
| 修稿时间： | 2005-12-07 |
Research on Singular Configuration and Workspace of 3-RPS Parallel Mechanism |
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| Lu Kaijiang,Niu Lufeng,Liu Yaru,Xu Xinbo.Research on Singular Configuration and Workspace of 3-RPS Parallel Mechanism[J].Transactions of the Chinese Society of Agricultural Machinery,2007,38(5):143-146. |
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| Authors: | Lu Kaijiang Niu Lufeng Liu Yaru Xu Xinbo |
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| Institution: | Baoji Arts and Sciences University |
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| Abstract: | A solution to non-singularity workspace of the parallel mechanism is presented.The relation of the differential motion and the restrictions of configuration and joint was analyzed for a singular 3-RPS parallel mechanism.The distinguish equation and curve surface equation were gained for the mechanism.The boundary of workspace was explored and the relation of singular configuration and workspace was analyzed synthetically.Configuration parameter and scope of joint variety were selected rationally in order to obtain workspace of non-singular configuration. |
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| Keywords: | Parallel mechanism Differential motion Surface of singular configuration Workspace |
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