一种新型混联机构的设计与位置分析

发布时间：2018-07-31 15:02

【摘要】：结合并联机构与串联机构的优势,设计了一种新型混联机构,该机构由3-UPU并联机构和2自由度旋转机构串联而成。对该机构进行了自由度分析。分步分析其位置正解,先运用封闭解法对3-UPU并联机构分析,得到3-UPU并联机构的位置正解;然后采用坐标变换分析在2自由度旋转机构作用下,3-UPU并联机构位置正解的变化,最终得出了该混联机构的位置正解。
[Abstract]:Based on the advantages of parallel mechanism and series mechanism, a new type of hybrid mechanism is designed, which consists of 3-UPU parallel mechanism and two degree of freedom rotating mechanism in series. The degree of freedom of the mechanism is analyzed. In this paper, the position forward solution of 3-UPU parallel mechanism is analyzed step by step, and the position forward solution of 3-UPU parallel mechanism is obtained by using closed solution, and then the change of position forward solution of 3-UPU parallel mechanism under the action of 2-DOF rotating mechanism is analyzed by coordinate transformation. Finally, the positive solution of the position of the hybrid mechanism is obtained.
【作者单位】：中北大学机械与动力工程学院;
【基金】：国家自然科学基金资助项目(51275486)
【分类号】：TH112

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