KINEMATIC ANALYSIS OF SPATIAL 3-RPS PARALLEL MECHANISM

GAO HongWei

doi:10.16579/j.issn.1001.9669.2019.02.022

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KINEMATIC ANALYSIS OF SPATIAL 3-RPS PARALLEL MECHANISM

更新时间：2022-09-22

- KINEMATIC ANALYSIS OF SPATIAL 3-RPS PARALLEL MECHANISM
- Journal of Mechanical Strength Vol. 41, Issue 2, Pages: 393-399(2019)
- 作者机构：
  
  1. 宝鸡文理学院机械工程学院
- 作者简介：
- 基金信息：
- DOI：10.16579/j.issn.1001.9669.2019.02.022
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GAO HongWei. KINEMATIC ANALYSIS OF SPATIAL 3-RPS PARALLEL MECHANISM. [J]. 41(2):393-399(2019)
DOI：

GAO HongWei. KINEMATIC ANALYSIS OF SPATIAL 3-RPS PARALLEL MECHANISM. [J]. 41(2):393-399(2019) DOI： 10.16579/j.issn.1001.9669.2019.02.022.

摘要

从空间3-RPS并联机构关节约束导出动平台位置和姿态参数之间的耦合关系,给出了描述机构位形的独立参数也即广义坐标。利用运动等同性条件建立机构几何约束,得到机构位置反解方程,进一步将约束方程对时间求一阶和二阶导数建立构件之间的速度加速度关系,从而避免了在运动方程中出现复合关节变量,得到构件之间显格式的速度加速度传递关系。实例表明该种方法,具有计算效率高的优点,有利于机构学问题的快速求解和动态仿真。

Abstract

the coupling relationship between the position of the moving platform and the attitude parameters is derived from the joint constraints of the spatial 3-RPS parallel mechanism, and the independent parameters used to describe the configuration of a mechanism is given. The geometric constraint of the mechanism is established by using the equal motion condition, and the inverse equation of the mechanism position is obtained. The relation between the velocity and acceleration between the components is established by using the first and two order derivatives of the constraint equations, thus avoiding the occurrence of composite joint variables in the equations of motion. The explicit relationship between velocity and acceleration among components is obtained. It proves that this method has the advantages of high computational efficiency and is helpful for the rapid solution and dynamic simulation of mechanism problems.

关键词

并联机构位置反解速度加速度

Keywords

Parallel mechanismPosition inverse solutionVelocityAcceleration

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