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应用闭环矢量法建立了对称型平面3-RRR并联机构的位置正解模型(解析解),针对典型算例(机架为最长杆且连架杆均为曲柄),借助数值法求解,利用Matlab软件绘制了该机构的可达工作空间,并与虚拟样机Solid Works软件的运动仿真结果进行了对比。
The closed-loop vector method is used to establish the position positive solution model (analytic solution) of the symmetric planar 3-RRR parallel mechanism. For a typical example (the longest rack and the rack are both crank) The software plotted the organization’s reachable workspace and compared it to the simulation results of the virtual prototype Solid Works software.