【摘要】 通过ADAMS虚拟样机的试验和测试,可以在研究机构性能的同时发现设计中存在的问题并提出改进方法。为了充分阐述3-PRPS并联机构的运动学本质特性,利用线几何的有效方法对机构模型运动学进行了分析,求解了逆运动学关系,并应用ADAMS软件进行运动学仿真分析。其中通过定义已经建立的实体模型参数变量,合理规划选取动平台的运动轨迹,并施加正解样条曲线驱动函数验证仿真方法,而获得了3-PRPS并联机构关键参数比率q与机构运动、工作空间的关系。分析结果给出了3-PRPS并联机构的运动学特征,对于该机构的工程设计和应用有着很重要的参考意义;同时应用ADAMS样条曲线验证了位置反解的正确性,简化了并联机构的研究分析方法。更多还原

【Abstract】 By testing and measuring the ADAMS virtual prototype, the property and design problems could be indentified and improvement method could be conducted.In order to explore the innate kinematics of the 3-PRPS parallel manipulator,line geometry model is used for the kinematics analysis of the parallel mechanism, and the inverse position solution is obtained.Then the ADAMS simulation is applied to the analysis of the 3-PRPS parallel manipulator.By defining the variable parameters of the established model and reasonably selection of the trajectory of the moving platform,using driving function of the positive solution spline to verify the simulation method,then relationship between key parameters ratio q of 3-PRPS and parallel manipulator motion,work space could be obtained finally.From the analysis result,the characteristic of the 3-PRPS parallel manipulator,which has the significant worth for engineering design and application of the manipulator is acquired;and then by using ADAMS spline,the correctness of the inverse position solution is verified,the method for analysis parallel mechanism is simplified.更多还原