Position Analysis and Research of Reachable Workspace of 3-CRS/SP Parallel Mechanism

Wang Ziqian; Zhao Yaohong; Li Ruiqin; Zhao Jianwen; Chen Xiaoming

doi:10.16578/j.issn.1004.2539.2017.12.003

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Position Analysis and Research of Reachable Workspace of 3-CRS/SP Parallel Mechanism

更新时间：2022-10-20

- Position Analysis and Research of Reachable Workspace of 3-CRS/SP Parallel Mechanism
- Vol. 41, Issue 12, Pages: 10-13(2017)
- 作者机构：
  
  1. 中北大学机械与动力工程学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2017.12.003
  CLC：
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[1]王自谦,赵耀虹,李瑞琴,赵建文,陈晓明.3-CRS/SP并联机构的位置分析及可达工作空间研究[J].机械传动,2017,41(12):10-13+18.

Wang Ziqian, Zhao Yaohong, Li Ruiqin, et al. Position Analysis and Research of Reachable Workspace of 3-CRS/SP Parallel Mechanism. [J]. 41(12):10-13(2017)
[1]王自谦,赵耀虹,李瑞琴,赵建文,陈晓明.3-CRS/SP并联机构的位置分析及可达工作空间研究[J].机械传动,2017,41(12):10-13+18. DOI： 10.16578/j.issn.1004.2539.2017.12.003.

Wang Ziqian, Zhao Yaohong, Li Ruiqin, et al. Position Analysis and Research of Reachable Workspace of 3-CRS/SP Parallel Mechanism. [J]. 41(12):10-13(2017) DOI： 10.16578/j.issn.1004.2539.2017.12.003.

摘要

用螺旋理论对并联机构3-CRS/SP进行了自由度分析,确定出机构的自由度分布情况,并用修正的G-K公式进行验证。然后采用解析几何法求解此并联机构的位置反解,以机构动平台上3个顶点间的长度为约束条件,构建约束方程,研究该机构封闭解法下的全部位置正解。最后通过对机构添加合适的马达,搜索出中间支链在不同长度下的边界点,用MATLAB软件读取边界点位置后,绘制出了该机构的可达工作空间图。

Abstract

The degree of freedom of the 3-CRS/SP parallel mechanism is analyzed by using the screw theory,the distribution of degree of freedom of the mechanism is determined,the result is verified by the modified G-K formula. And the inverse position solution of the parallel mechanism is got through the method of analytic geometry,the length between the three vertexes of the moving platform is regarded as the restrict condition to construct the constrained equations,the positive solution of all positions under the closed solution of the mechanism is studied. Finally,the appropriate motor is added to the mechanism,the boundary points that the intermediate branch chain in different lengths are searched,and the reachable workspace diagram of the mechanism is drawn by the MATLAB software.

关键词

并联机构自由度正反解工作空间

Keywords

Parallel mechanismDegree of freedomForward and inverse solutionWorkingspace

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