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基于螺旋理论,分析了一种新的3-PSS并联机构的运动特性。首先将该机构的一个分支拆分成两个串联机构,分别建立了动平台的螺旋运动方程;接着根据结构特点,找到机构的运动约束关系;再根据反螺旋理论中的运动和约束力的关系,得出该机构始终受到三个线性无关的力偶约束力,最终从理论上证明3-PSS并联机构只能有三个平动自由度。结论极大地简化了该机构的其它特性分析,同时该方法对其它少自由度并联机构运动特性分析具有一定借鉴意义。
Based on the spiral theory, the motion characteristics of a new 3-PSS parallel mechanism are analyzed. Firstly, a branch of this institution is split into two series bodies, and the equations of motion of the moving platform are respectively established. Secondly, according to the characteristics of the structure, the movement constraint of the mechanism is found. Then, according to the relationship between the motion and the binding force in the anti-spiral theory It is concluded that the mechanism is always constrained by three linearly independent couplers. Finally, it is theoretically proved that the 3-PSS parallel mechanism can only have three translational degrees of freedom. The conclusion greatly simplifies the analysis of other features of the mechanism, and the method is of some reference to the kinematics analysis of other less-degree-of-freedom parallel mechanisms.