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介绍了1种基于并联机构的空间一平移二转动的三自由度运动平台,该运动平台是以相互垂直分布的(P-R-C)、(C-R-C-R)支链与1条(P-H)支链通过并联组合而成。通过计算,得出了该机构的自由度以及运动学正、反解的理论表达式。利用PRO/E对机构进行建模,通过Mech/Pro模块导入ADAMS/View模块中进行仿真。分别在机构的移动副和动平台上施加运动,通过计算机模拟,分别得到该运动平台以及三条运动支链随时间变化的轨迹,并与使用MATLAB软件进行的理论计算结果进行对比,结果显示得到的位置曲线完全相同,证明了该平台位置运动的正确性。
A three-degree-of-freedom motion platform based on parallel mechanism in space-translational and two-rotation is introduced. The motion platform is based on a combination of vertical (PRC), (CRCR) and one (PH) to make. Through calculation, the theoretical expression of freedom degree and positive and inverse kinematics of the mechanism are obtained. Model the mechanism with PRO / E and import it into the ADAMS / View module for simulation using the Mech / Pro module. Respectively, in the organization of mobile deputy and the platform to impose on the movement, through computer simulation, respectively, the sports platform and the three movement branches with time trajectory, and with the use of MATLAB software to calculate the theoretical results, the results show that The position curves are exactly the same, which proves the correctness of the platform position movement.