Kinematics Analysis of 3-PRS+2P Hybrid Mechanism

Si Huang; Wanqiang Zhu; Jianzhong Yang; Yu Chen

doi:10.16578/j.issn.1004.2539.2019.03.019

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Kinematics Analysis of 3-PRS+2P Hybrid Mechanism

Test·Analysis | 更新时间：2022-10-03

- Kinematics Analysis of 3-PRS+2P Hybrid Mechanism
- Journal of Mechanical Transmission Vol. 43, Issue 3, Pages: 104-108(2019)
- 作者机构：
  
  1.华中科技大学国家数控系统工程技术研究中心，湖北武汉 430074
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2019.03.019
  CLC：
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黄思,朱万强,杨建中等.3-PRS+2P混联机构运动学分析[J].机械传动,2019,43(03):104-108.

Huang Si,Zhu Wanqiang,Yang Jianzhong,et al.Kinematics Analysis of 3-PRS+2P Hybrid Mechanism[J].Journal of Mechanical Transmission,2019,43(03):104-108.
黄思,朱万强,杨建中等.3-PRS+2P混联机构运动学分析[J].机械传动,2019,43(03):104-108. DOI： 10.16578/j.issn.1004.2539.2019.03.019.

Huang Si,Zhu Wanqiang,Yang Jianzhong,et al.Kinematics Analysis of 3-PRS+2P Hybrid Mechanism[J].Journal of Mechanical Transmission,2019,43(03):104-108. DOI： 10.16578/j.issn.1004.2539.2019.03.019.

摘要

针对3-PRS+2P混联机构进行了运动学分析，运用几何法与坐标变换相结合的方法建立了该机构的逆运动学方程，并求出该机构的逆运动学解析解。将求刀位点位姿转化为求动平台三顶点坐标的方式，建立该机构的正运动学模型，同时采用双参数数值延拓同伦算法求出正运动学的数值解。基于Maple计算出逆解的解析表达式，解的结构简明且易于编程，基于Matlab编程实现正解迭代过程，数值解达到精度要求。运用UG与 Matlab的联合建模、计算与仿真的方式验证了正逆解的正确性。

Abstract

The kinematics analysis of the 3-PRS+2P hybrid mechanism is carried out. The inverse kinematics equation of the mechanism is established by combining the geometric method with the coordinate transformation，and the analytical solution of the inverse kinematics of the mechanism is obtained. The position of the cutter location is transformed into the three vertex coordinates of the moving platform，and the positive kinematics model of the mechanism is established. At the same time，the two parameter numerical extension homotopy algorithm is used to find the numerical solution of the positive kinematics. The analytic expression of the inverse solution is calculated based on Maple. The structure of the solution is simple and easy to be programmed. The iterative process of the positive solution is realized based on the Matlab programming，and the numerical solution reaches the precision requirement. The correctness of the positive and inverse solutions is verified through the modeling，computation and simulation of UG and Matlab.

关键词

并联机器人正运动学逆运动学同伦算法

Keywords

Parallel robotPositive kinematicsInverse kinematicsHomotopy algorithm

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