摘要
基于逆向思维提出了一种满足工作空间要求的三平移自由度并联机构的尺度综合方法。在工作空间已定的前提下,给出了并联机构,通过运动学反解的方法确定并联机构的结构参数的方法,最后在确定杆长以后通过运动学正解的方法验证了并联机构的工作空间。
A general-purpose method of dimensional synthesis for 3-DOF planner parallel mechanism based on reverse thought is introduced.A method of demensional synthesis is therefore given with a prerequisite of fixed workspace through which determined the length of connecting link.Finally,the workspace of the mechanism which is under the using of the choosed length of the connecting link is inspected and verified.
出处
《工具技术》
2010年第6期57-59,共3页
Tool Engineering
关键词
并联机构
工作空间
运动学反解
尺度综合
parallel mechanism
workspace
inverse kinematics solution
dimensional synthesis
