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该文以设计高加速度的平面柔性3-RRR机构为目的,研究一种平面3-RRR并联机构的尺度综合设计方法。建立机构的运动学逆解方程、速度和加速度传递方程以及动力学逆解模型。根据机构的特点,给定末端速度和加速度曲线,分析机构输入和输出加速度与设计参数之间的关系,提出兼顾最大加速度和作业空间要求的并联机床尺度综合设计方法,并通过具体的设计计算,证明该方法可行。最终给出一组满足速度、加速度以及工作空间要求的尺寸参数。
In order to design a planar flexible 3-RRR mechanism with high acceleration, a scale-integrated design method of planar 3-RRR parallel mechanism is studied. Establish kinematic inverse equations, velocity and acceleration transfer equations and inverse kinematics models. According to the characteristics of the mechanism, given the terminal speed and acceleration curve, the relationship between the input and output acceleration of the mechanism and the design parameters is analyzed. A comprehensive design method of parallel machine tool scale considering both the maximum acceleration and the working space requirement is proposed. Through the concrete design and calculation, Prove this method is feasible. Finally, a set of size parameters to meet the speed, acceleration and work space requirements.