Workspace Analysis and Optimization Design of 3- PUU Parallel Mechanism

Pu Zhixin; Zhao Qing; Yu Yinghua

doi:10.16578/j.issn.1004.2539.2015.08.014

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Workspace Analysis and Optimization Design of 3- PUU Parallel Mechanism

更新时间：2022-10-20

- Workspace Analysis and Optimization Design of 3- PUU Parallel Mechanism
- Vol. 39, Issue 8, Pages: 55-58(2015)
- 作者机构：
  
  1. 辽宁工程技术大学机械工程学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2015.08.014
  CLC：
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[1]蒲志新,赵庆,于英华.3-PUU并联机构工作空间分析与优化设计[J].机械传动,2015,39(08):55-58+73.

Pu Zhixin, Zhao Qing, Yu Yinghua. Workspace Analysis and Optimization Design of 3- PUU Parallel Mechanism. [J]. 39(8):55-58(2015)
[1]蒲志新,赵庆,于英华.3-PUU并联机构工作空间分析与优化设计[J].机械传动,2015,39(08):55-58+73. DOI： 10.16578/j.issn.1004.2539.2015.08.014.

Pu Zhixin, Zhao Qing, Yu Yinghua. Workspace Analysis and Optimization Design of 3- PUU Parallel Mechanism. [J]. 39(8):55-58(2015) DOI： 10.16578/j.issn.1004.2539.2015.08.014.

摘要

提出一种新型3-PUU并联机构,对该并联机构进行运动学分析,得到了3-PUU并联机构的运动学反解,在此基础上,分析了移动副和虎克铰对工作空间的限制。采用三维极限搜索法求解了工作空间。对该并联机构的工作空间进行了优化分析,为并联机构的构型设计和进一步研究奠定了基础。研究结果表明,该种机构具有较好的实际应用前景。

Abstract

A novel 3- PUU parallel mechanism is proposed,the kinematics analysis of the parallel mechanism is carried out and the kinematics inverse solutions of the 3- PUU parallel mechanism are obtained. Based on the previous works,the constraints conditions on the mobile side and Hooke in the workspace are analyzed.By using the three- dimensional limit search method,the workspace is solved. The workspace of the parallel mechanism is analyzed and optimized,which laid the foundation for the design of the parallel manipulator mechanism and the further study. The results show that,the parallel mechanism has a good application prospect.

关键词

并联机构运动学极限搜索法工作空间优化分析

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