一种新型五自由度并联机构运动学分析与仿真-Journalof.PDF

第29 卷第1期 东 北 大 学 学 报 ( 自 然 科 学 版 ) V ol29, No. 1 2 00 8 年 1 月 Journal of Nort heastern U n vers ty( N atural Sc ence) Jan . 2 0 0 8 杨 强, 孙志礼, 闫 明, 许 敏 ( , 110004) : Delta 2- R , , , , A DA M S , , , : ; Delta ; ; ; : T P 242 . 2 ; TH 122 : A : 1005- 3026( 2008) 01- 0117- 04 Kinematics and Simulation of a New Five- DOF Parallel Mechanism YAN G Qiang, S UN Zhi-li, YAN M ing , X U M in ( School of M echan cal Eng neer ng Automat o n, N ortheastern Un vers ty, Shenyang 110004, Ch na. Correspondent : SU N Zh- l , E- ma l: zhlsun @ ma l . neu . edu . cn) Abstract: Based on t he mproved Delta/ 2- R mechan sm, a new mechan sm nt eg rat ng ndependent t ranslat on w t h rot at on s presented. A n nverse solut on s der ved to all t he poses of the m echan sm by w ay of s mple t ransformat on of homogeneous coord nate and mat r x operat on w thout com pl cated mathemat c der vat on, thus enabl ng ts programm ng to be eas er . T he 3- D analyt cal geometry and vector algebra are nt roduced nto t he normal k nemat c solut on so as to avo d t he numer cal solut on to alg ebra c equat on sets and opt on of mult ple solut ons for convent onal parallel mechan sm. W t h the v rt ual prot otype soft w are A DA M S, the movement of the mechan sm was s mulat ed to ver fy t he correctness of bot h t he normal and nverse k nemat c solut ons to t he mechan sm proposed. Ow ng to t s b g work space, h gh