一種新型4-RPTR并聯(lián)機(jī)構(gòu)的運(yùn)動(dòng)學(xué)分析及仿真研究.pdf

1、燕山大學(xué)碩士學(xué)位論文一種新型4RPTR并聯(lián)機(jī)構(gòu)的運(yùn)動(dòng)學(xué)分析及仿真研究姓名：李永泉申請(qǐng)學(xué)位級(jí)別：碩士專業(yè)：機(jī)械電子工程指導(dǎo)教師：趙靜一張立杰20050401熱山大學(xué)j。學(xué)碩士學(xué)位論文AbstractSpatialimperfectDOFparallelrobotshavereceivedmuchattentionfortheadvantagesoftheirsimplemechanism，lowcostindesigning，manufa

2、cturing，andcontrolling，comparingwithtraditionalsix—DOFparallelmechanismEspeciallysymmetricimperfectDOFparallelmechanismwimidenticalbranchsymmetricconstruction，isotropyhavebiggerapplicablepotentialityButtheresearchdevelop

3、mentofimperfect—DOFparallelmechanismisveryunbalanced，theresearchoftWO，three—DOFparallelmechanismhavebasicallybeenfinished，howevertheresearchoffourfive—parallelmechanismjustbegin，whichlimitthedevelopmentandapplicationofth

4、iskindofparallelmechanismtosomeextentThesubjectofthispaperis4RPTRfourDOFparallelmechanism，analyzingthekinematicsofthemechanism，whichhavefourDOFofthreedimensionaltranslationandrevolutionaroundZspindle，whichisverypromising

5、imperfect—DOFparallelmechanismFirstofall，thispaperanalyzetheDOFandtheinputrationalitiesofthemechanism，accordingtOgeometricalqualityofthemechanism，settinguptherestrictequation，solvingthepositionofthemechanismwithcontinuat

6、ionapproach，andnumericalverificationiScarriedoutSecondpointtOwcakpointwhichthenumbersprovidedbymechanicaldirectkinematicsisnoldirectviewing，theproblemofvisualizationofmechanicaldirectkinematicswassolvedinvirtueofapplicat

7、ionsoftwareVB，AutoCAD，Matlab，thesketchofmechanicalpositionwaspresentedbeforedesignerinaveryshorttimeUtilizingtheanal3，sisthereachableworkspaceofmechanismwasanalyzedinvirtueofthemathemalicmodelofmechanismanddrawtheshapeof