3-SPS/PPS并联机构运动学分析

为了实现一种空间上三维转动和两维平移的运动形式,提出了一种3-SPS/PPS为构型的五自由度并联机构,该机构的驱动支链为SPS支链,约束支链为PPS支链.应用螺旋理论对3-SPS/PPS并联机构的支链进行了理论分析,对并联机构的自由度进行计算,求出了并联机构位置方程的表达式.通过三维建模软件建立了3-SPS/PPS并联机构的模型,利用ADAMS软件进行运动仿真分析,从而得到了3-SPS/PPS并联机构在逆解下的位移曲线变化图,同时得到了在正解下的位移、速度和加速度运动曲线图,验证了3-SPS/PPS并联机构的自由度,为并联机构的应用提供了理论参考.

Kinematics Analysis of 3-SPS / PPS Parallel Mechanism

In order to realize a motion form of three-dimensional rotation and two-dimensional translation in space, a 5-DOF (five degrees of freedom) parallel mechanism with a 3-SPS / PPS configuration is proposed. The driving chain of the mechanism is SPS branch and the constraint chain is PPS branch. Based on the screw theory, the paper analyzes the branch chain of the 3-SPS / PPS parallel mechanism, calculates the degree of freedom of the parallel mechanism, and obtains the expression of the position equation of the parallel mechanism. The model of 3-SPS / PPS parallel mechanism is established by three-dimensional modeling software, and the motion simulation analysis is carried out by using ADAMS software, so that the displacement curve change diagram of 3-SPS / PPS parallel mechanism under inverse solution is obtained, and the displacement, velocity and acceleration motion curve diagram under forward solution is obtained, which verifies the degree of freedom of 3-SPS / PPS parallel mechanism, and provides theoretical reference for the application of parallel mechanism.