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3-PRS & 3P混联机构运动学分析
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四川大学—泸州市人民政府战略合作科技创新研发项目(20826041D4175)


Kinematic Analysis of 3-PRS & 3P Hybrid Mechanism
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    摘要:

    为提高工作效率,让机构得到最大化利用,提出一种新型混联机构3-PRS & 3P。建立该机构的动、静坐标系,采用螺旋理论对此混联机构进行自由度分析,并通过修正的 Grubler-Kutzbach公式,对该混联机构自由度进行验证,得到一致的结果;对混联机构进行运动学逆解分析和正解分析,采用余弦定理和空间坐标变换法对此混联机构进行运动学逆解分析,采用牛顿迭代法进行运动学正解分析。然后通过MATLAB软件编程和ADAMS软件进行数值算例仿真,验证了运动学正解和逆解模型的正确性。最后对该混联机构动平台2的运动范围进行分析,分析结果表明:该混联机构动平台2具有较大的运动范围。

    Abstract:

    In order to improve the working efficiency and maximize the utilization of the mechanism,a new hybrid mechanism 3-PRS & 3P was presented.The dynamic and static coordinate systems of the mechanism were established and the spiral theory was used to analyze the DOF of 3-PRS & 3P hybrid mechanism.Whats more,the modified Grubler-Kutzbach formula was used to verify the DOF of the hybrid mechanism,and consistent results were obtained.Then the inverse kinematics solution and the positive solution of the hybrid mechanism were analyzed.The cosine theorem and the space coordinate transformation method were used to analyze the inverse solution of the hybrid mechanism.Then Newton iteration method was used to analyze the forward solution of the hybrid mechanism.In addition,programming by MATLAB software and simulation by ADAMS software verified the correctness of the kinematics model.Finally,the motion range of the dynamic platform No2 of the hybrid mechanism was analyzed.The analysis shows that the dynamic platform No2 of the hybrid mechanism has a large motion range.

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全红鹏,林光春,黄金月,梁建波,王韬略,廖勋宝.3-PRS & 3P混联机构运动学分析[J].机床与液压,2022,50(4):36-40.
QUAN Hongpeng, LIN Guangchun, HUANG Jinyue, LIANG Jianbo, WANG Taolue, LIAO Xunbao. Kinematic Analysis of 3-PRS & 3P Hybrid Mechanism[J]. Machine Tool & Hydraulics,2022,50(4):36-40

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  • 在线发布日期: 2022-05-13
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