三自由度可调并联机构的位置与运动学分析∗

摘要

Solution of positional analysis is acquired concerning a spherical three-DOF adjustable parallel mechanism based on symbolic and digital method. On this basis,solutions' mathematical model of velocity and acceleration of hinge points of the moving platform are obtained. Symbolic computation of software Mat-labis used to solve mathematical model in a practical example, which verifies the correctness of the method. Then the variety of regularity of the moving platform position is researched when adjusting the length and ve-locity of the drive legs, it provides a basis for the dynamics of the mechanism.%针对一种三自由度的球面并联平台机构，基于符号-数字方法，建立了机构的位置正解数学模型，在此基础上推导出了末端执行器(动平台)球铰质心点的速度、加速度的正反解数学模型，研究了机构的运动学特性。利用Matlab符号运算对模型进行实例求解，验证了该方法的正确性。研究了调节驱动杆杆长和速度时动平台位置的变化规律，对该机构的动力学研究提供了基础。