| 3自由度并联机构的位姿分析 |
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| 引用本文： | 付廷贵,许瑛,杨光.3自由度并联机构的位姿分析[J].南昌航空工业学院学报,2005,19(3):24-27,31. |
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| 作者姓名： | 付廷贵 许瑛 杨光 |
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| 作者单位： | [1]南昌航空工业学院机械工程系,江西南昌330034 [2]南京航空航天大学机电学院,江苏南京210016 |
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| 基金项目： | 南昌航空工业学院测控工程研究中心开放基金资助项目（ZX200328010） |
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| 摘 要： | 本文对3自由度并联机构的位置正解求法进行了初步探讨。应用闭合回路方程法对空问3-RPS并联机构的输出件的位姿进行分析，推导出该机构的运动学正解。获得了输出件的位姿，给出该机构位姿分析的数值仿真实例。
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| 关 键 词： | 并联机构 运动学 位姿 |
| 文章编号： | 1001-4926（2005）03-0024-04 |
| 收稿时间： | 2005-04-06 |
| 修稿时间： | 2005-04-06 |
Positional posture analysis of 3-DOF parallel mechanism |
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| FU Ting- gui, XU Ying, YANG Guang.Positional posture analysis of 3-DOF parallel mechanism[J].Journal of Nanchang Institute of Aeronautical Technology(Natural Science Edition),2005,19(3):24-27,31. |
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| Authors: | FU Ting- gui XU Ying YANG Guang |
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| Institution: | 1. Department of Mechanical Engineering, Nanchang Institute of Aeronautical Technology, Nanchang , jiangxi 330034; 2. College of Mechanical and Electrical, Nanjing University of Aeronautics and Astronautics, Nanjing , jiangsu 210016 |
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| Abstract: | In this paper,a forward displacement solution of 3 degree of freedom(3-DOF) parallel mechanism is primarily discussed.The close loop equation is used for the positional posture analysis of the output piece of space 3-RPS parallel mechanism and the forward displacement of the mechanism is educed to acquire the positional posture of output piece.Finally,numerical emulation examples are performed for the positional posture analysis of the mechanism. |
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| Keywords: | parallel mechanism kinematics positional posture |
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