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以6自由度3-UrPS并联机构为研究对象,建立其运动学反解方程,并给出机构的主要约束条件。推导出机构可达工作空间的表达式,分析了主要结构参数对工作空间几何性质的影响,利用三维边界搜索法,绘制该并联机构定姿态工作空间三维实体图和截面图。最后以工作空间体积为优化目标,获得结构参数对工作空间体积的影响关系曲线。在机构整体尺寸基本不变的情况下使工作空间体积增大28%,达到优化机构参数的目的。
Taking the 6-DOF 3-UrPS parallel mechanism as the research object, the kinematic inverse equation is established and the main constraints of the mechanism are given. The expression of the reachable workspace is deduced. The influence of the main structure parameters on the geometric properties of the workspace is analyzed. The three-dimensional solid and sectional views of the workspace of the parallel manipulator are drawn using the 3D boundary search method. Finally, taking the workspace volume as the optimization objective, the influence of structure parameters on the workspace volume is obtained. The size of the work space is increased by 28% while the size of the whole structure is basically the same, so as to optimize the parameters of the mechanism.