基于MATLAB／ADAMS的平面三自由度并联机构的运动学和动力学分析及控制的初步设计

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运用MATLAB软件对一种平面三自由度并联机构进行了运动学和动力学分析，并以图线形式展示了机构的运动规律和受力情况；然后通过在ADAMS中建模仿真，验证了MATLAB的计算结果，并将MATLBA计算所得数据拟合成运动方程代入AD．AMS中模拟并联机构的控制。二者的分析结果为后续本机构控制系统的开发奠定了基础。 The kinematics and dynamics analysis of a planar 3-DOF parallel mechanism is conducted through MATLAB, and the calculation results are showed in a curve form. Afler that, through a simulation in ADAMS, the calculation results is validated with its accuracy, and the kinematic equations fitted from the data that MATLAB calculated are transplanted into ADAMS to simulate the control of this mechanism. Results from both methods have laid the foundation for the subsequent development of the control system.