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设计了一种含防扭臂结构的3自由度并联平台(3-UPS/PS/RPS),其中UPS为驱动支链,PS和RPS为恰约束从动支链。运用螺旋理论分析其约束状况,表明该机构为无过约束机构。对机构位置进行分析,给出其位置反解求法,通过ADAMS运动曲线证明了动平台在单一自由度上的运动独立性。采用拆杆法对动平台进行静力学分析,得出动平台的静力学平衡方程,分析了防扭臂结构对平台的影响。相应实例验算证明了平台的受力状况良好,防扭臂结构的加入提高了平台承载能力,研究结果可为该机构在工程上的应用作参考。
A 3-DOF parallel platform (3-UPS / PS / RPS) with anti-twist arm structure is designed, in which UPS is a driving branch and PS and RPS are just constrained driven branches. The spiral theory was used to analyze the restraint condition, indicating that the mechanism was a non-restraint mechanism. The position of the mechanism is analyzed, and the method of inverse position solution is given. The motion independence of the moving platform on a single degree of freedom is proved by ADAMS motion curve. The statics analysis of the movable platform is carried out by the method of disassembling the rod. The static equilibrium equation of the movable platform is obtained and the influence of the anti-torsion arm structure on the platform is analyzed. The corresponding examples verify that the platform is in good condition, and the addition of the torsion-proof arm structure improves the bearing capacity of the platform. The research results can be used as references for the application of this mechanism in engineering.