郑州大学学报（理学版）2024，Vol.56Issue(1)：25-31,7.DOI:10.13705/j.issn.1671-6841.2022257
一种可实现多运动模态的串并联机构的运动学分析
Kinematic Analysis of a Series-parallel Mechanism that Enabled Multiple Motion Modes
摘要
Abstract
The series mechanism was flexible and had a large working space,while the parallel mecha-nism was stable and had a high load-bearing capacity.The hybrid mechanism combined the advantages of both mechanisms,with high flexibility and large working space.And it realized a variety of motion modes,but the kinematic analysis was more complicated.A novel series-parallel hybrid mechanism based on 3-RPS was proposed,which could realized isokinetic modes.Firstly,the structural characteristics of the mechanism was described,and the coordinate system of the mechanism was established.Secondly,according to the characteristics of the mechanism,forward and inverse kinematics was analyzed,and the inverse and forward solution models of the mechanism was established.Finally,the theoretical calculation results were compared with the Adams simulation results by numerical calculation.The results showed that the constructed kinematics model was correct,and the mechanism had the functions of multi-modal mo-tion such as meandering and telescoping.关键词
混联机构/3-RPS/位置正解/运动学/数值算例Key words
hybrid organization/3-RPS/positive solution of position/kinematics/numerical example分类
通用工业技术引用本文复制引用
曾庆山,马飞凡..一种可实现多运动模态的串并联机构的运动学分析[J].郑州大学学报（理学版）,2024,56(1):25-31,7.基金项目
科技部重点研发计划项目(2020YFB1313701). （2020YFB1313701）
