With a large swing angle 2T2R parallel mechanism (3-RPR+R)& UPS as the object for research, the hybrid mechanism was introduced. The degree of freedom of the mechanism was deduced by using the helix theory and it was verified by the G-K formula. The position inverse solution was established by using the spatial coordinate transformation method and it was calculated by solving the equation with MATLAB. The built 3D model was imported into ADAMS including motion pairs and point movements to achieve the assumed motion form,and motion simulation was performed.The results show that the given motion can be realized, and the rationality of the hybrid mechanism is verified.
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刘兴芳,苗鸿宾,陈菁瑶,刘娜.一种新型混联机构设计及位置逆解分析[J].机床与液压,2018,46(21):7-10. . Design and Inverse Kinematics Analysis for a Novel Hybrid Mechanism[J]. Machine Tool & Hydraulics,2018,46(21):7-10