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介绍了一种空间新型少自由度三平移并联机构,该新型三平移并联机构是以-P-R-R-R-R-为支路结构。提出一种利用轴线相互垂直的转动副代替传统意义上的万向节的思想,即新颖柔性转动副。利用Pro/E对机构进行建模,通过MECHANISM/Pro模块导入ADAMS/View模块中进行仿真。分别在机构的3个移动支链上施加运动,通过计算机模拟,得到动平台的运动轨迹和角速度随时间变化的关系,表明该柔性机构在一定运动范围及频率下,引用无间隙的柔性关节,避免了因普通运动副间隙而造成的运动失真。
This paper introduces a new space-less three degree-of-freedom translation parallel mechanism. The new three-translation parallel mechanism is based on -P-R-R-R-R-. Proposed a use of axis perpendicular to each other instead of the traditional sense of the universal joints of the idea that the new flexible rotating pair. Use Pro / E to model the mechanism and import the MECHANISM / Pro module into the ADAMS / View module for simulation. The movement of the moving platform and the angular velocity with time were obtained through the computer simulation. The results show that the flexible mechanism refers to the flexible joint with no clearance under a certain range of motion and frequency, Avoids motion distortion caused by the common motion gap.