基于Adams的3自由度并联机构运动学分析

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3UPU 3D freedom mechanism is studied with motion analysis method, the vector equation is created through the datum coordinate system and the motion vector equation. And the analytical solution of the inverse solution was calculated on using the analytical method. Finally through Adams virtual prototyping we go on the structure of the simulation and data analysis. And we get the position data of the union lever, the moving platform and verify the rationality.以3UPU型3自由度并联机构为研究对象，对其进行了运动学分析。通过基准坐标系和运动坐标系建立矢量方程，利用解析法求出机构逆解的解析解，再通过计算机对并联机构进行建模。最后通过Adams虚拟样机进行结构的仿真和数据分析，求出所需要的连杆和动平台的位置数据，验证了并联机构的合理性。