一种新型3-U^rSR六自由度并联机构的位置与作业空间分析

摘要

机构的位置和空间分析是分析和研究机构的基础,文中提出一种新型3-UrSR并联机构,采用球面2自由度五杆作为驱动装置;对机构的自由度进行了计算,对该机构的位置反解进行了分析,并用Matlab软件解析得到8组解并对其对应图形进行了绘制,最后用实例对反解进行了验证,并给出了该机构的空间求解算法和图形。%Position and workspace analysis of mechanism is the basics for study and research of mechanism.In this paper,a novel parallel mechanism named 3-UrSR was proposed.It used 2-DOF spherical five-bar mechanism as the compound drive device.The mechanism freedoms was calculated,and the inverse solution of position of the mechanism was analyzed.Using Matlab software eight groups of inverse solution were determined and its figure was dipicted.At last a numerical simulation example of a mechanism with its workspace arithmetic and figure to verify the feasibility and correctness of the inverse solution.