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设计了一种新型的解耦3自由度一平移二转动并联机构,给出了其位置分析的正、逆解析解,分析了该机构的输入-输出运动解耦性,用MATLAB软件编程搜索工作空间的边界曲线,得到了机构的工作空间图,为该机构的机械结构设计和运动轨迹实时控制奠定了基础。
A new type of decoupling 3-DOF-parallel-translation parallel mechanism was designed. The positive and inverse analytic solutions of its position were given. The input-output decoupling of the mechanism was analyzed. The MATLAB software was used to search the program The boundary curve of the space has obtained the working space map of the mechanism, which lays the foundation for the mechanical structure design and the real-time control of the movement trajectory of the mechanism.