3-TPT并联机构运动性能研究

doi:10.3969/j.issn.1006-396X.2012.03.017

石油化工高等学校学报 ›› 2012, Vol. 25 ›› Issue (3): 74-78.DOI: 10.3969/j.issn.1006-396X.2012.03.017

3-TPT并联机构运动性能研究

杨辉,赵恒华,付红栓

(辽宁石油化工大学机械工程学院,辽宁抚顺113001)

收稿日期:2012-04-06 修回日期:1900-01-01 出版日期:2012-06-25 发布日期:2012-06-25
作者简介:杨辉（１９８７－），男，辽宁锦州市，在读硕士
基金资助:
辽宁省自然科学基金项目（２００５２２１１

Sports Performance of the 3-TPT Parallel Mechanism

School of Mechanical Engineering, Liaoning Shihua University, Fushun Liaoning 113001, P. R. China

Received:2012-04-06 Revised:1900-01-01 Published:2012-06-25 Online:2012-06-25

摘要/Abstract

摘要： 　以３－ＴＰＴ并联机构作为研究对象，建立该机构的运动学正、反解方程，求出该机构的雅可比矩阵及其逆矩阵，并在此基础上运用ＭＡＴＬＡＢ软件和ＬａｂＶＩＥＷ软件对该机床的奇异性、灵巧性和平稳性性进行仿真分析。仿真结果表明：３－ＴＰＴ并联机构不存在奇异位形，并且拥有较好的灵巧性和平稳性，这为并联机构的最优化设计及控制系统设计提供了理论基础，并为确定工作形位和机构尺寸提供了设计依据。

关键词: 并联机床 , 奇异性 , 灵巧性 , 平稳性

Abstract: The 3-TPT parallel mechanism was studied. Through the establishment of positive solutions and negative solutions of the kinematics equations, the Jacobian matrix and its inverse matrix of the mechanism will be calculated. And on this basis, the singularity of the machine, the dexterity and the stationarity were simulated and analyzed by using the MATLAB software and the LabVIEW software.The results show that the singularity of 3-TPT parallel mechanism doesnt exist and also have better dexterity and stationarity.These provide a theoretical basis for the optimal design and control system design of parallel mechanism, and offer a design basis to determining body size and shape and position of work.

Key words: Parallel mechanism, Singularity, Dexterity, Stationarity

杨辉,赵恒华,付红栓. 3-TPT并联机构运动性能研究[J]. 石油化工高等学校学报, 2012, 25(3): 74-78.

YANG Hui, ZHAO Heng-hua, FU Hong-shuan. Sports Performance of the 3-TPT Parallel Mechanism[J]. Journal of Petrochemical Universities, 2012, 25(3): 74-78.

[1]	王传强,赵恒华. 并联机床的奇异性研究[J]. 石油化工高等学校学报, 2010, 23(2): 84-88.
[2]	王海英, 尤波,孙晓波, 张礼勇. 移动机器人灵巧手的优化设计[J]. 石油化工高等学校学报, 2007, 20(3): 5-7.

3-TPT并联机构运动性能研究

Sports Performance of the 3-TPT Parallel Mechanism

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