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3-PRC并聯(lián)機(jī)構(gòu)的運(yùn)動(dòng)軌跡規(guī)劃與仿真
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    摘要:

    利用螺旋理論對(duì)具有三角平臺(tái)的3-PRC并聯(lián)機(jī)構(gòu)進(jìn)行了運(yùn)動(dòng)性分析，應(yīng)用并聯(lián)機(jī)構(gòu)逆運(yùn)動(dòng)學(xué)分析理論，對(duì)3-PRC并聯(lián)機(jī)構(gòu)動(dòng)平臺(tái)的運(yùn)動(dòng)軌跡進(jìn)行了分析研究。由齊次坐標(biāo)變換公式推導(dǎo)出其運(yùn)動(dòng)學(xué)反解計(jì)算公式，進(jìn)而確定了動(dòng)平臺(tái)上某一點(diǎn)按預(yù)期軌跡運(yùn)動(dòng)時(shí)應(yīng)在原動(dòng)件上施加的運(yùn)動(dòng)規(guī)律。最后，借助UG創(chuàng)建了該機(jī)構(gòu)的裝配模型，通過(guò)ADAMS仿真對(duì)所規(guī)劃的運(yùn)動(dòng)軌跡進(jìn)行了驗(yàn)證。

    Abstract:

    This paper analysed the motility of a new triangular-platformed 3-PRC parallel manipulator with screw theory, and the movable platform's motion path of the 3-PRC parallel mechanism was studied by using the theory of inverse kinematics of the parallel mechanism. The computation formula of inverse kinematics was deduced according to the homogeneous transformation, then the movement rules exerted on the actuator was achieved when one point of movable platform is moving on the desired trajectory. The virtual prototype of this mechanism was created in UG software and at last the planning trajectory was verified through simulation in ADAMS.

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郭宗和,李連升,段建國(guó),王克杰.3-PRC并聯(lián)機(jī)構(gòu)的運(yùn)動(dòng)軌跡規(guī)劃與仿真[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2007,38(9):126-129.[J]. Transactions of the Chinese Society for Agricultural Machinery,2007,38(9):126-129.

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