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2-SPR/(U+UPR)P(vA)可重构并联机构的运动学与工作空间研究
Authors
尹晓秦
米文博
马振东
马春生
Publication date
1 January 2021
Publisher
Editorial Office of Journal of Mechanical Transmission
Doi
Cite
Abstract
提出了一种含可重构运动副的2-SPR/(U+UPR)P(vA)冗余并联机构,可应用于并联操作平台。首先,建立了2-SPR/(U+UPR)P(vA)并联机构的螺旋矩阵,求解机构在R相和U相下的自由度,并应用修正的Kutzbach-Grübler公式对机构的自由度进行了验证;其次,应用闭环矢量法求解机构的两组运动学逆解并验证、应用粒子群优化算法研究建立机构在R相下的正解模型并验证;最后,联合使用SolidWorks和Matlab软件求解了机构在R相下的可达工作空间和U相下的平动工作空间。研究结果为该机构的进一步优化和实际应用提供了理论支持
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Last time updated on 06/04/2023