一种新型3-PRS并联机构及其工作空间分析

摘要

设计了一种新型三自由度可调工作空间3-PRS并联机构,建立了该机构的逆向运动学数学模型,给出了机构的主要约束,运用蒙特卡洛方法绘制出不同参数下工作空间截面图和三维实体图,分析了机构参数对机构工作空间的影响规律,为机构的参数选择和优化设计提供了依据.%A novel 3-PRS with three degree of freedom (3-DOF) parallel mechanism is designed.Its inverse kinematics mathematical model was built.The main constraint of the mechanism was given.The sectional drawing and three dimensional (3D) solid drawing of the working space were generated by using the Monte Carlo method under different parameter conditions.The effect law of parameters on the working space of mechanism is analyzed,which provides the foundation for parameter selection and optimization design of this mechanism.