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文章分析了一般结构尺度的平面三自由度并联机构的正解。首先,建立了含有移动副的平面三自由度并联机构运动分析的方程,并将其化解为只含有从动件一个运动位置参数的代数方程(一元六次方程),通过优化迭代计算出六个解;其次,介绍了全为转动副的平面三自由度并联机构的解,可在含有移动副机构解的基础上进行分析;最后,给出了一个算例,说明了求解过程的可行性。
The paper analyzes the positive solutions of a planar three-DOF parallel mechanism with general structural dimensions. Firstly, the equation of motion analysis for a planar three-DOF parallel mechanism with moving pairs is established, which is decomposed into an algebraic equation (a single six-degree equation) that contains only one parameter of the moving position of the driven member, and six Secondly, the solution of planar three-degree-of-freedom parallel mechanism which is all rotating pair is introduced. The solution of moving parallel mechanism can be analyzed based on the solution of the moving one. Finally, an example is given to show the feasibility of the solution process.