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为适应大幅面光电产品检测和大型工件操作(加工、焊接、喷涂)时变位姿的需要,提出一种结构简易的3滑块在3个平行导轨上驱动且易实现大工作空间的平面型解耦并联操作手的新型机构,推导了该机构运动学正反解解析公式,计算了末端执行器在定位置和定姿态情况下的工作空间,仿真分析了定姿态时3滑块的运动规律及特性,建立了三维虚拟样机模型,为其物理样机研制、实时控制及工业应用奠定了基础。
In order to meet the needs of large-scale optoelectronic products testing and large-scale workpiece operation (machining, welding, spraying) time-varying attitude, a simple structure of 3 slider on the three parallel rails to drive and easy to achieve a large work space Decoupling parallel operation of the hand of the new body, the kinematic inverse derivation of the mechanism derived analytical solution to calculate the end-effector in the positioning position and attitude under the condition of the work space, the simulation analysis of the 3-block kinematics And characteristics, a three-dimensional virtual prototyping model was established, laying a foundation for the development of its physical prototype, real-time control and industrial applications.