新型四自由度并联机构位置逆解分析

本资料包含pdf文件1个，下载需要1积分

采用基于方位特征集的方法，分析了一种新型四自由度并联机构，即2PUS-2PRS并联机构的自由度数目和类型，给出了该并联机构的基本运动链（BKC）及其耦合度计算；利用矢量法运算建立了该并联机构的位置逆解模型，得到了可行的16组位置逆解，并据此模型结合一种典型运动实例，得到各驱动杆长的变化规律。文章还对其上述分析的正确性进行了有效验证。 Based on the orientation feature set method, a new four degrees of freedom parallel mechanism is analysed in this paper, which is 2PUS-2PRS parallel mechanism, the DOF number and type. Then, the basic kinematics chains （short for BKC ） of this parallel mechanism and its coupling calculation are obtained. Finally, by using the vector computing method to establish the parallel mechanism inverse model, 16 groups of viable inverse position are also obtained. According to this model, a typical instance of movement to get the drive rod length variation is given. and an effective approach is used to verify its correction.