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对3-PPR平面并联机构利用闭环矢量方法进行了位置正解和位置逆解的分析,建立了该机构的位置正、逆解方程,求出了简单位置正解和逆解的结果。采用MATLAB编程得出了该机构的工作空间,发现输入量的伸长范围和中间杆的伸长范围是影响工作空间形状和大小的主要因素。该研究为3-PPR平面并联机构的动力学研究、优化设计等进一步研究奠定了一定的理论基础。
The 3-PPR planar parallel mechanism is analyzed by the closed-loop vector method. The forward and inverse solutions of the mechanism are established, and the results of the forward and inverse solutions of the simple position are obtained. The working space of the mechanism was obtained by programming with MATLAB. It was found that the extension of the input and the extension of the middle rod are the main factors that affect the shape and size of the work space. The research lays a certain theoretical foundation for the further research on the kinetics and optimization design of 3-PPR planar parallel mechanism.