3pprs空间并联机构运动性能分析与仿真 word格式.docxVIP

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3pprs空间并联机构运动性能分析与仿真 word格式.docx

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3pprs空间并联机构运动性能分析与仿真 word格式

ResearchonKinematicPerformanceandSimulationof3-PPRSParallelMechanismAuthor：JiangHongjunTutor：Li RuiqinABSTRACTWithmultiplebranches,multipledrives,high-precisionandhighloadcapacityofThe spatialparallelmechanismisfavoredbymanyscholars.Inordertoexploremorenewparallel mechanisms,the3-PPRSparallelmechanismisproposed.Thedegreeoffreedomofthe 3-PPRSparallelmechanismisanalyzed.Thekinematics,workspaceandvirtualprototype simulation are furtherstudied.Firstly,the3-PPRSparallelmechanismisproposed.Itsconfigurationisdesigned,The degree of freedom of 3-PPRS parallel mechanism is calculated by using traditionalKutzbach-Grübler formula. and screw theory.ItsDOFissixat last.Secondly,thekinematicof3-PPRSparallelmechanismisstudied.Basedontherotation matrix,theinversesolutionofpositionisanalyzed,theequationsofinversesolutionare establishedbylinklengthconstraints;byusingspacevectormethod,theequationsofthe forwardsolutionofpositionareestablished,asingleparametricequationofhigherdegreeis obtainedafterelimination,alloftheforwardsolutionsofthe3-PPRSparallelmechanismare solvedbyMATLABprogram.Thenumericalverificationisputuptotheresultsofforward andinversesolutions,andtheirsolutionsarecoincidentwitheachother;byvectorrelations, theconstraintequationsisestablished,afterderivationwithrespecttotimeoftheequations, the speedandacceleration is solved, therebythefirst-orderand second-order effectcoefficient of 3-PPRS parallel mechanism areobtained.Then,theworkspaceof3-PPRSparallelmechanismisresearched.Basedontheinverse solutionofposition,theworkspaceissolvedbyusingnumericalsearchmethod.Thelocation of all points meetingtheconditions is recordedbyMATLAB programming.Theworkspaceof three-dimensionisexported.BychangingtheoutputrangeofEulerangles,theinfluenceof the Euleranglesfortheworkspaceis researched.Finally,thekinematicsanddynamicssimulationforthe3-PPRSparallelmechanismis made.Givingtrajectoryoftheoutputterminal,thekinematicssimulationisconducted,andthemeasurementofsixelectricmotors’charactersuchasvelocit