佳木斯大学学报（自然科学版）
佳木斯大學學報（自然科學版）
가목사대학학보（자연과학판）
Journal of Jiamusi University(Natural Science Edition)
2015年
5期
647-650
,共4页
并联机构%模型建立%运动分析%算法%正反解
併聯機構%模型建立%運動分析%算法%正反解
병련궤구%모형건립%운동분석%산법%정반해
parallel mechanism%modeling%motion analysis%arithmetic%positive and inverse solution
4-UPU并联机构可以实现3 TIR的运动姿态,该机构的四条运动支链结构配置均相同,称为完全对称的并联机构,这种对称结构对其进行运动学及动力学的极为简便.简洁地建立了该机构的模型并绘制了结构简图,进行了运动学分析和求解出了位置正反解的算法,通过数值算例验证了该算法的正确性、合理性.
4-UPU併聯機構可以實現3 TIR的運動姿態,該機構的四條運動支鏈結構配置均相同,稱為完全對稱的併聯機構,這種對稱結構對其進行運動學及動力學的極為簡便.簡潔地建立瞭該機構的模型併繪製瞭結構簡圖,進行瞭運動學分析和求解齣瞭位置正反解的算法,通過數值算例驗證瞭該算法的正確性、閤理性.
4-UPU병련궤구가이실현3 TIR적운동자태,해궤구적사조운동지련결구배치균상동,칭위완전대칭적병련궤구,저충대칭결구대기진행운동학급동역학적겁위간편.간길지건립료해궤구적모형병회제료결구간도,진행료운동학분석화구해출료위치정반해적산법,통과수치산례험증료해산법적정학성、합이성.
4-UPU parallel mechanism can realize 3T1R motion, the mechanism's four motion branched structure configuration is the same, so it is also known as a perfectly symmetrical parallel mechanism.The sym-metric structure can carry on the kinematics and dynamics analysis of the research easily.A concise agency mod-el was established and the structure diagram was drawn.Then, its kinematics was analyzed, and the positive and negative solutions of the algorithm were solved.Finally, a numerical example was given to verify the correctness and rationality of the algorithm.
