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提出了用虚功原理来研究平面三自由度3-RRR机构的受力特性。对该机构的逆运动学和雅可比矩阵进行了分析。推导出了驱动力矩的的线性形式,然后基于Matlab软件对机构的运动学进行了分析,与ADAMS软件的结果进行了比较,最后得出了驱动构件驱动力矩及运动副反力的变化规律。研究结果为进一步研究此种并联机构的刚度分析、动态性能、机构优化设计和系统控制等都有重要的意义。
The principle of virtual work is proposed to study the force characteristics of planar 3-DOF 3-RRR mechanism. The inverse kinematics and Jacobian matrix of the agency were analyzed. The linear form of the driving torque is deduced. Then the kinematics of the mechanism is analyzed based on the Matlab software and the results of ADAMS software are compared. Finally, the changing rules of the driving torque and the reaction force are obtained. The research results have important meanings to further study the stiffness analysis, dynamic performance, mechanism optimization design and system control of such parallel mechanism.