一种新型并联机构的工作空间分析

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The workspace of a new of parallel mechanism UPS - 2RPS with a series input branched chain was studied, the structure layout characteristics was introduced, and its mathematical model and structure constraint conditions were built. The workspace boundary map was drew through MATLAB with the method of numerical analysis and the inverse position of the parallel mechanism. All of the studies have important significance to the innovation, rational design and application of the oarallel mechanism.针对一种新型含串联输入支链的四自由度UPS-2RPS并联机构的工作空间进行了研究，介绍了其结构布局特点并建立数学模型、结构约束条件，采用了数值分析方法运用并联机构的逆解在MATLAB下绘制出工作空间边界图，对该机构的创新、合理设计及推广应用有重要意义．