CAJ | 학술논문

并联机构运动学正解是一个位置和姿态耦合的复杂非线性问题，一般难以求得封闭形式的解析解。应用解析法对3-RPS型并联机构进行运动学正解问题进行了求解，并给出正解方程通式以及各项系数值，得到封闭形式的解析解。并给出具体数值实例进行求解，得出全部位置解，同时给出部分机构空间图形验证了解法可靠性。
병련궤구운동학정해시일개위치화자태우합적복잡비선성문제，일반난이구득봉폐형식적해석해。응용해석법대3-RPS형병련궤구진행운동학정해문제진행료구해，병급출정해방정통식이급각항계수치，득도봉폐형식적해석해。병급출구체수치실례진행구해，득출전부위치해，동시급출부분궤구공간도형험증료해법가고성。
Direct kinematics of parallel mechanism is a complex and nonlinear problem of attitude coupled and position .Generally it is difficult to obtain closed -form analytical solution .And inverse kinematics equations of the mechanism were derived .The direct kinematics problem of 3-RPS parallel mechanism was solved by ana-lytical method , positive solution of the equation formula and coefficient values were given and obtained in closed-form analytical solution .The reliability of the method was verified based on solve specific numerical examples and drew part of the space agency graphical with all the position solution .