机械制造与自动化2026，Vol.55Issue(1)：46-50,5.DOI:10.19344/j.cnki.issn1671-5276.2026.01.009
6-PUS并联运动模拟器设计及工作空间分析
Design and Workspace Analysis of 6-PUS Parallel Motion Simulator
夏宁明 1叶秋 1宋代平1
作者信息
- 1. 重庆大学 机械与运载工程学院,重庆 400044
- 折叠
摘要
Abstract
A 6-PUS parallel motion simulator is designed to meet the high dynamic and high precision requirements of single and multi-degree-of-freedom coupling motion.Its structural characteristics of 6-PUS are described,its forward and inverse kinematics model is derived based on coordinate transformation and particle swarm optimization algorithm,and the correctness of the model is verified by comparing the calculated values of MATLAB and the simulated values of ADAMS.By combing with model of inverse kinematics and the main constraints of the workspace,Monte Carlo method is used to draw the zero-attitude workspace of the simulator.The results show that 6-PUS parallel motion simulator has good motion performance and application value.关键词
6-PUS/运动模拟器/正逆运动学/蒙特卡罗法/工作空间Key words
6-PUS/motion simulator/forward and inverse kinematics/Monte Carlo method/workspace分类
机械制造引用本文复制引用
夏宁明,叶秋,宋代平..6-PUS并联运动模拟器设计及工作空间分析[J].机械制造与自动化,2026,55(1):46-50,5.
