计算机工程与应用2019，Vol.55Issue(1)：256-260,5.DOI:10.3778/j.issn.1002-8331.1806-0232
平面并联机构工作空间的三维螺旋扫描CAD求解
Three Dimensional Helical Scanning CAD for Workspace of Planar Parallel Mechanism
摘要
Abstract
In view of the difficulty of solving the workspace of the planar parallel mechanism without singularity position, the tedious process and the large amount of calculation, a three-dimensional spiral scanning method for the working space of planar parallel mechanism which bases on CAD is proposed. The planar parallel mechanism of n degree is decomposed into n branch chain for independent analysis. The reachable area of the end of each branch chain is obtained, and the inter-section of all the reachable area of the branch chain is the workspace of the planar parallel mechanism. The model of planar parallel mechanism is established by using SolidWorks software, and the geometric feature is processed. The solution process is solved by automatic solver. The solution process is graphed, and the non singular position workspace of the coaxial layout 5R mechanism and the planar 3-RPR parallel mechanism is quickly obtained. The solution is verified by the kinematics experiment of the coaxial layout of the 5R machine.关键词
平面并联机构/计算机辅助设计(CAD)/三维螺旋扫描法/无奇异位置工作空间Key words
planar parallel mechanism/Computer-Aided Design(CAD)/three-dimensional helical scan/singularity-free workspace分类
信息技术与安全科学引用本文复制引用
申旭阳,侯志利,秦慧斌,吴霄..平面并联机构工作空间的三维螺旋扫描CAD求解[J].计算机工程与应用,2019,55(1):256-260,5.基金项目
先进制造技术山西省重点实验室开放基金(No.XJZZ201703) （No.XJZZ201703）
山西省研究生教育创新项目(No.2018177). （No.2018177）
