论文部分内容阅读
分析了一种两平移一转动并联机构,求出其运动学正解和反解的封闭解,系统讨论了该机构的工作空间及转动能力,为该机构工作空间综合提供了依据。与其他类似机构相比,该并联机构结构简单,位置分析求解容易,易于实时控制,可广泛应用于工业装配机器人、微动机器人、虚拟轴并联机床和多维减振平台等领域。
A kind of two-translation-one-rotation parallel mechanism is analyzed and the closed solution of the kinematic positive solution and the anti-solution is obtained. The working space and rotational capability of the mechanism are discussed systematically, which provides a basis for the comprehensive work space of the mechanism. Compared with other similar mechanisms, the parallel mechanism has the advantages of simple structure, easy solution to position analysis and easy real-time control. The parallel mechanism can be widely applied to industrial assembly robots, fretting robots, virtual axis parallel machine tools and multi-dimensional vibration reduction platforms.