2-RPS/2-SPC并联机构位置分析
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安徽理工大学

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TH112

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2- RPS/2-SPC Parallel Mechanism Position Analysis
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College of Mechanical Engineering,Anhui University of Science and Technology,Huainan 232001,China

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    摘要:

    以2-RPS/2-SPC并联机构为研究对象,首先利用拓扑结构理论求出机构的自由度,进而通过构型分析得出其运动特性(2T2R)。其次运用空间位姿变换矩阵,进行并联机构的位置逆解;利用Adams软件进行逆解仿真,通过MATLAB软件进行并联机构逆解仿真验证。最后分析并联机构对工作空间影响的参数,给出具体参数,利用极限边界搜索算法通过MATLAB软件仿真得出工作空间图形,为少自由度并联机构位姿分析提供理论依据。

    Abstract:

    Taking the 2- RPS/2-SPC parallel mechanism as the research object, the degree of freedom of the m- echanism is first obtained by using topological structure theory, and then the motion characteristics (2T2R) are ob- tained by configuration analysis. Secondly, the position inverse solution of parallel mechanism is carried out by u- sing spatial position and pose transformation matrix, and the inverse solution simulation of parallel mechanism is carried out by using Adams software, and the inverse solution simulation of parallel mechanism is verified by MA- TLAB software. Finally, the parameters of the influence of the parallel mechanism on the workspace are analyzed, and the specific parameters are given, and the workspace graph is obtained by using the limit boundary search alg- orithm through MATLAB software simulation, which provides the theoretical basis for the analysis of the position and pose of the parallel mechanism with less freedom.

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周毅钧. 2-RPS/2-SPC并联机构位置分析[J]. 科学技术与工程, , ():

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  • 收稿日期:2020-06-10
  • 最后修改日期:2020-11-09
  • 录用日期:2020-12-01
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