基于计算机的空间并联机构工作空间的可视化分析

摘要

Aiming at the 3TIR spatial parallel mechanism,this paper proposes a widely-generalized discrete Monte Carlo method.Through the discretization of rotational degrees of freedom,the dimensionality reduction effect is achieved.By using the union and intersection of subspaces,The reachable workspace of the entire space parallel mechanism and the visualization effect of the flexible workspace are analyzed by taking an example of a 3T1R space parallel mechanism of type 4-PRPaRR as an example to study the effect of the specific parameters on the size of the workspace and the performance.For the first time,the work performance of space parallel mechanism is analyzed from the perspective of flexible work space and reachable work space,which provides an important theoretical foundation for the application and research of multi-freedom space parallel mechanism.%针对3TIR空间并联机构,提出了一种可以普遍推广的离散式蒙特卡洛法,通过对转动自由度的离散化处理达到降维度的效果,利用子空间的并集和交集思想分别实现了整个空间并联机构的可达工作空间以及灵活工作空间的可视化效果,并以一种型为4-PRPaRR的3T1R空间并联机构为例进行实例分析,研究了具体参数对工作空间的大小以及工作性能的影响,并首次从灵活工作空间和可达工作空间的角度分析了空间并联机构的工作性能,为多自由度空间并联机构的应用和研究提供了重要的理论基础.