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提出了一种能实现空间三维平动和绕Z轴转动的4-PTT并联机构。运用解析几何中的坐标变换与投影理论,求得了该机构位置反解的显式表达式,给出了求解位置正解的方法,并进行了数值验证;采用极坐标搜索法确定了该并联机构的工作空间边界点,并利用Matlab和LabVIEW软件编程,分析了定姿态下工作空间的边界以及三维立体形状。研究表明该机构的工作空间具有边界光滑、体积大、无空洞以及截面形状规则等优点,适用于工业装配机器人、虚拟轴并联机床、多维减震平台等领域。
A 4-PTT parallel mechanism that can realize three-dimensional space motion and Z-axis rotation is proposed. By using the coordinate transformation and projection theory in analytic geometry, the explicit expression of the inverse solution of the mechanism is obtained. The method to solve the positive position solution is given and the numerical verification is carried out. The polar coordinate search method is used to determine the position of the parallel mechanism Workspace boundary point, and the use of Matlab and LabVIEW software programming, analysis of the workspace under the fixed attitude and three-dimensional shape of the three-dimensional shape. The research shows that the work space of the agency has such advantages as smooth boundary, large volume, no cavity and regular cross-sectional shape, and is suitable for industrial assembly robots, virtual axis parallel machine tools and multi-dimensional seismic reduction platforms.