基于影响系数3-RPS并联机构运动学分析与仿真

doi:10.16578/j.issn.1004.2539.2014.03.018

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基于影响系数3-RPS并联机构运动学分析与仿真

更新时间：2025-04-03

- 基于影响系数3-RPS并联机构运动学分析与仿真
- Vol. 38, Issue 3, Pages: 76-79(2014)
- 作者机构：
  
  江西理工大学机电工程学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2014.03.018
  CLC： TH112
- Published：2014
- 稿件说明：
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[1]朱大昌,冯文结,刘运鸿.基于影响系数3-RPS并联机构运动学分析与仿真[J].机械传动,2014,38(03):76-79.

[J]. 2014, 38(3): 76-79.
[1]朱大昌,冯文结,刘运鸿.基于影响系数3-RPS并联机构运动学分析与仿真[J].机械传动,2014,38(03):76-79. DOI： 10.16578/j.issn.1004.2539.2014.03.018.

[J]. 2014, 38(3): 76-79. DOI： 10.16578/j.issn.1004.2539.2014.03.018.

摘要

利用环路方程法推导了3-RPS三自由度并联机构的一阶、二阶影响系数表达式。在3-RPS并联机构的一阶、二阶影响系数的基础上

研究了其运动学逆解问题。建立基于影响系数的运动学模型

运用Matlab软件进行了并联机构运动学仿真

分析驱动位移、速度和加速度曲线

得出3-RPS并联机构一阶、二阶影响系数的特性

其一阶、二阶运动影响系数与原动件运动无关

只与其运动学尺寸、类型和位置有关。

Abstract

First and second order influence coefficient expressions of 3-RPS parallel mechanism are deduced by using the loop equation method.Based on the first and second order influence coefficient

the inverse kinematics problem is researched.The kinematics model of 3-RPS parallel mechanism is built based on the influence coefficient.The model is simulated by using Matlab.The characteristics of first and second order influence coefficient are obtained by analyzing drive displacement

velocity and acceleration curve.The first and second order influence coefficients of 3-RPS parallel mechanism are independence to the motion of driving link and only relate to its kinematic size

type and location.

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