平面三自由度3-RRR并联机构的驱动力矩分析
By using the virtual work principle,the force characteristics of the planar 3-DOF 3-RRR parallel mechanism is studied.The inverse kinematics and Jacobian matrixof the mechanism are analyzed.The linear formof the driving torque is deduced.Then,based onMatlab software,the kinematics analysis of mechan...
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| Main Authors: | , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2013-01-01
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| Series: | Jixie chuandong |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2013.12.028 |
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| Summary: | By using the virtual work principle,the force characteristics of the planar 3-DOF 3-RRR parallel mechanism is studied.The inverse kinematics and Jacobian matrixof the mechanism are analyzed.The linear formof the driving torque is deduced.Then,based onMatlab software,the kinematics analysis of mechanism is carried out,and the results are compared with the resultofADAMS software.At last,the variation lawof driving torque and reaction force of the mechanismare obtained.The resultsof this study can provide necessary information forstiffness analysis,dynamic performance analysis,optimization design and system control of the 3-RRR parallel mechanism. |
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| ISSN: | 1004-2539 |