一种过约束3自由度并联机构的位置正解研究

摘要

以一种过约束3自由度并联机构2-RTR&RSR为研究对象,利用解析法对其位置正解进行了分析,得到了一个只含一个未知量的16阶多项式,给出了该机构位置正解的所有可能解的解析表达式.并通过算例验证了算法的有效性.%This paper deals with the forward position analysis of an over-constrained 3-DOF parallel mechanism of 2-RTR&RSR. By using analytical method in the forward position analysis, sixteen order polynomial equation has been derived and gives the entire set of solutions for the forward position of the mechanism. The examples show the effectiveness of the proposed algorithm.