3-RPR并联机构的运动分析

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In this paper, the 3-RPR parallel mechanism is taken as a reserch object. The kinematic analysis of 3RPR parallel mechanism is analyzed. The positive solution and inverse solution of lhe mechanism position are obtained. The Jaeobian matrix is gained, thus the agency＇s several singadar configurations are concluded. The resuhs provide a basis for further research and development of the 3-RPR parallel mechanism.本文以3-RPR并联机构为研究对象，对机构进行了位姿分析，得出了机构的位姿正解和位姿逆解，并且进一步求出了机构的Jacobian矩阵，从而得出该机构的几种奇异位形，为该机构的进一步分析研究和开发奠定了基础。