Study on the Position Solution and Workspace of 3-RRS Spherical Parallel Mechanism

Li Dahai; Li Ruiqin; Song Shengtao; Zhang Mengmeng; Zhao Jianwen

doi:10.16578/j.issn.1004.2539.2016.10.004

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Study on the Position Solution and Workspace of 3-RRS Spherical Parallel Mechanism

更新时间：2022-10-20

- Study on the Position Solution and Workspace of 3-RRS Spherical Parallel Mechanism
- Vol. 40, Issue 10, Pages: 17-22(2016)
- 作者机构：
  
  1. 中北大学机械与动力工程学院
  2. 中北大学机电工程学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2016.10.004
  CLC：
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[1]李大海,李瑞琴,宋胜涛,张盟盟,赵建文.3-RRS球面并联机构的位置解及工作空间研究[J].机械传动,2016,40(10):17-22+93.

Li Dahai, Li Ruiqin, Song Shengtao, et al. Study on the Position Solution and Workspace of 3-RRS Spherical Parallel Mechanism. [J]. 40(10):17-22(2016)
[1]李大海,李瑞琴,宋胜涛,张盟盟,赵建文.3-RRS球面并联机构的位置解及工作空间研究[J].机械传动,2016,40(10):17-22+93. DOI： 10.16578/j.issn.1004.2539.2016.10.004.

Li Dahai, Li Ruiqin, Song Shengtao, et al. Study on the Position Solution and Workspace of 3-RRS Spherical Parallel Mechanism. [J]. 40(10):17-22(2016) DOI： 10.16578/j.issn.1004.2539.2016.10.004.

摘要

利用螺旋理论对3-RRS球面并联机构进行了运动分析。利用牛顿迭代法求解了3-RRS球面并联机构的运动学正解,应用闭环矢量法建立了3-RRS球面并联机构的位置逆解模型并推导出了相应的位置逆解算式,得到了3-RRS球面并联机构的8组逆解。实例分析验证了3-RRS球面并联机构位置解的正确性。利用数值搜索法求解了机构的可达工作空间,利用MATLAB编程绘制了机构在不同结构参数下的可达工作空间图,分析了工作空间的变化规律,为3-RRS球面并联机构的应用奠定了基础。

Abstract

The motion analysis of 3- RRS spherical parallel mechanism is carried out by using the screw theory. The forward kinematics of 3- RRS spherical parallel mechanism is solved by using Newton iterative method. The inverse kinematics model of 3- RRS spherical parallel mechanism is established by using closed loop vector method. The corresponding inverse position solution formula is derived. Eight sets of inverse solutions are obtained. Through the example analysis,the validity of the position solutions of 3- RRS spherical parallel mechanism is verified. The reachable workspaces of 3- RRS spherical parallel mechanism are solved with the help of numerical search method. The reachable workspace diagrams with different structure parameters are drawn by using Matlab software. The variation law of the workapaces is analyzed. The results lay the foundation for the application of 3- RRS spherical parallel mechanism.

关键词

3-RRS球面并联机构螺旋理论位置正解位置逆解工作空间

Keywords

3-RRS spherical parallel mechanismScrew theoryForward position solutionInverse position solutionWorkspace

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