摘要
3-PRRU并联机构具有两个转动自由度和一个移动自由度,无伴随运动,具有广泛的用途,目前相关研究主要集中于运动学层面,静力分析相关研究相对较少。采用矢量法对3-PRRU并联机构进行静力分析,首先通过拆杆法建立了机构在一般位姿下的各杆件的力/力偶平衡方程,然后求解出机构在整个工作空间中的运动副约束反力和主动力,最后通过数值实例计算验证。研究结果可为3-PRRU并联机构的结构设计和实际应用提供理论基础。
The 3-PRRU parallel manipulator has two rotational degrees of freedom and one translational degree of freedom. It has no parasitic motion and can be implemented in various applications. However, the present studies are mainly focusing on its kinematics, while static analysis and study are inadequate. Static analysis of the 3-PRRU parallel manipulator is performed with the vector method. First, an equation of equilibrium of couples of bars of the manipulator at ordinary pose is established with the method of d, Franceismantling bar, then the pair constraint force and active force of the movement of the manipulator in the whole work space are solved, and the solutions are checked via numerical examples. The work provides a theoretical basis for the structure design and practical application of the 3-PRRU parallel manipulator.
出处
《浙江理工大学学报（自然科学版）》
2015年第1期87-94,共8页
Journal of Zhejiang Sci-Tech University(Natural Sciences)
基金
国家自然科学基金资助(51275479)
关键词
并联机构
静力分析
约束力/力偶
parallel manipulator
static analysis
constraint/couples
作者简介
王程（1989-），男，陕西渭南人，硕士研究生，主要从事机器人技术方面的研究。
通信作者：陈巧红，E-mail：chen_lisa@zstu．edu．cn
