| 3-SPR并联机构运动学分析 |
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| 引用本文： | 梅江平,高奔,谭杨,王兰. 3-SPR并联机构运动学分析[J]. 农业机械学报, 2012, 43(8): 215-220 |
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| 作者姓名： | 梅江平 高奔 谭杨 王兰 |
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| 作者单位： | 天津大学机械工程学院,天津,300072 |
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| 基金项目： | 国家高技术研究发展计划（863计划）资助项目（2009AA04Z219） |
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| 摘 要： | 针对一种3-SPR并联平台机构,依据机构的数学模型建立了机构的位置逆解模型,在此基础上推导出各支链的速度映射模型,通过算例和运动学仿真软件CosmosMotion的仿真结果对比分析验证了该速度模型正确有效,并通过利用SolidWorks软件进行虚拟机构的建模,对其工作空间进行仿真,得到机构工作空间的几何形状。
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| 关 键 词： | 并联机构 3-SPR 速度叠加 工作空间 |
Kinematic Analysis of 3-SPR Parallel Mechanism |
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| Mei Jiangping,Gao Ben,Tan Yang and Wang Lan. Kinematic Analysis of 3-SPR Parallel Mechanism[J]. Transactions of the Chinese Society for Agricultural Machinery, 2012, 43(8): 215-220 |
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| Authors: | Mei Jiangping Gao Ben Tan Yang Wang Lan |
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| Affiliation: | Tianjin University;Tianjin University;Tianjin University;Tianjin University |
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| Abstract: | The inverse and forward position model of a 3-S PR parallel platform mechanism was established.The velocity model of each chain was derived on basis of the position analysis.By comparing the calculation analysis of samples and the results derived by simulation software CosmosMotion,the position and velocity analyses were proved to be correct.The virtual mechanism was modeled by using SolidWorks.The geometric shape of workplace was obtained. |
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| Keywords: | Parallel mechanism 3-SPR Velocity stack Workplace |
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