CAJ | 학술논문

研究对象为一种载荷试验平台，主要采用的是一种对称6-THRT的并联机构。对其进行了位置分析，从而确定支杆位移与平台位姿参数的关系，利用matlab软件对该机构在整个工作空间表面进行静力学逆解仿真分析。任一杆件在工作空间的每个点都对应着一个力的值，给定动平一个载荷，来研究各支链杆的受力变化情况。为该机构的支链驱动设计和电动缸的选择提供了依据。
연구대상위일충재하시험평태，주요채용적시일충대칭6-THRT적병련궤구。대기진행료위치분석，종이학정지간위이여평태위자삼수적관계，이용matlab연건대해궤구재정개공작공간표면진행정역학역해방진분석。임일간건재공작공간적매개점도대응착일개력적치，급정동평일개재하，래연구각지련간적수력변화정황。위해궤구적지련구동설계화전동항적선택제공료의거。
This paper takes the load test platform. with a symmetrical 6-THRT paral el manipulator as object of study and analyzes the relationship between the determined paral el manipulator posture and the strut displacement. It also uses the matlab software to analyzes the simulation of its entire workspace surface statics inverse and any rodvalus corresponding to the force on working space and gives a load to the paral el manipulator to study the stress changes of every branch. The result can be contributed to the develop-ment and application of the design of the driven branch and the selection of the electric cylinder.