毕业设计（论文）_空间3_RPS并联机构的运动分析与仿真.docVIP

毕业设计（论文） 题 目： 空间3-RPS并联机构的运动分析与仿真 2010-6-11 摘要 3-PRS并联机构是空间三自由度机构，该机构具有支链数目少、结构对称、驱动器易于布置、承载能力大、易于实现动平台大姿态角运动等特点，目前已在工程中得到成功应用。本文基于空间机构学理论，对3-RPS并联机构进行了相关的运动学分析。在对机构结构分析的基础上，对机构的输出位姿参数进行了解耦分析，得到了机构输出参数间的解耦关系式；用解析法推导了机构的位置反解方程；用数值法实现了机构的位置正解；依据驱动副行程、铰链转角、连杆尺寸干涉等限制因素确立约束条件，利用极限边界搜索算法搜索了3-PRS并联机构的工作空间，分析了该机构工作空间的特点，并进行了工作空间体积计算。最后基于ADAMS软件平台，建立了3-RPS并联机构的三维实体简化模型，对3-RPS并联机构的运动进行了仿真。本文的研究为3-RPS并联机构的结构设计与应用提供了参考。 ： 3-PRS并联机构；位置正解；位置反解；工作空间；运动仿真 ABSTRACT3-PRS parallel mechanism is a three degrees of freedom of space agencies, the agency has a small number of branched-chain, structural symmetry, the drive is easy layout, carrying capacity, easy to implement a large moving platform attitude angle motion and other characteristics, has been successfully applied in engineering?.?Based on the theory of space agencies, on the 3-RPS parallel mechanism was related to kinematics analysis.?In the analysis of the structure, based on the position and orientation of the body of the output parameters of the decoupling analysis, the decoupling of the output parameters of the relationship; analytic method derived by inverse position equations institutions; achieved by numerical methods?body forward position; based driver Vice trip, hinge angle, rod size interference and other constraints set constraints, using the limit boundary search algorithm for searching for the 3-PRS parallel mechanism of the working space, analysis of the sector space characteristics, and?a working space of volume.?Finally, based on ADAMS software platform, the establishment of the 3-RPS parallel mechanism of three-dimensional solid simplified model of 3-RPS parallel mechanism of the movement is simulated.?This study for the 3-RPS parallel mechanism structure provides a reference design and application. Key word: 3-PRS parallel mechanism; forward position; inverse position; workspace ; motion simulation. 目 录 摘要 II ABSTRACT III 前 言 VI 第1章 绪论 1 1.1 课题研究的意义 1 1.2 并联机构简介 3 1.3 并联机构的国内外发展现状 3 1.4 少自