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设计了一种4UPS-UPU并联机构,通过矢量代数法求解该并联机构运动学逆解,给出关节变量与末端位姿间的映射关系。采用边界搜索法分析并联机构定姿态时的工作空间,获得工作空间的三维图形,计算工作空间大小。研究该并联机构的支链长度、动静平台半径和运动副转角等结构参数和运动参数对其工作空间大小的影响,为机构的参数优化及轨迹规划提供理论依据。
A 4UPS-UPU parallel mechanism was designed. The inverse kinematics of this parallel mechanism was solved by vector algebraic method, and the mapping relationship between joint variables and end pose was given. The boundary search method is used to analyze the working space when the parallel mechanism is in the posture, the three-dimensional graph of the working space is obtained, and the working space is calculated. The influence of structural parameters and motion parameters such as the length of the parallel chain, the radius of the static and dynamic platform and the rotational angle of the kinematic platform on the size of the working space is studied, which provides a theoretical basis for the parameter optimization and trajectory planning of the mechanism.