摘要
文中提出了结构合理的6-PRUU并联机构,并对其进行运动学分析研究.建立了6-PRUU并联机构的位置正解和反解方程,并用数值法进行求解;建立了该机构的速度、加速度模型与相关的铰链约束模型;在位置分析的基础上采用Matlab软件进行定姿态下工作空间分析,确定了该并联机构的工作空间边界,将工作空间形状用可视化形式显示出来,为进一步研究该机构提供了基础与依据.
A reasonable structure of 6-PRUU parallel mechanism was proposed and its kinematics analysis was carried out in this paper.The positive and inverse equations of the 6-PRUU parallel mechanism were established.Simultaneously,the equations were solved by a numerical method.Furthermore,the mathematical models of its speed and acceleration were established.On the basis of the inverse equation,the workspace of certain stance was analyzed using Matlab software.The boundary of the parallel mechanism′s workspace was worked out and the workspace shape was visually displayed.All the above-mentioned works can provide a basis and reference for the further research.
出处
《江苏科技大学学报（自然科学版）》
CAS
北大核心
2010年第6期568-572,共5页
Journal of Jiangsu University of Science and Technology:Natural Science Edition
关键词
并联机构
位置正解
运动学分析
工作空间
parallel mechanism
position forward solution
kinematics analysis
working space
