基于支链的并联机构位置分析及工作空间分析

At present, when analyzing the position and working space of parallel mechanism, it is still a direct analysis of the whole mechanism, which has the problems of complicated process and no generality. In order to solve this problem, the theoretical analysis methods of workspace analysis and position analysis of parallel mechanism are studied from the point of view of branch chain, which is the basic unit of parallel mechanism. In position analysis, according to the degree of freedom of the parallel mechanism, the appropriate branching chains are selected and the driving pairs are determined. First, the inverse position equation of each driving pair's branch chain is established. Then the inverse position equation group of the parallel mechanism is obtained. Finally, according to the structural characteristics of the mechanism, the positive position analysis is studied. In workspace analysis, first, the reverse position analysis equation group is transformed formally, the influencing factors are input, and the boundary equations of each branch position workspace are established by analytic method. Then, the intersection of all branch position workspaces is obtained, and the position workspace of the mechanism is obtained. Finally, the union of each position workspace of the mechanism is obtained to obtain the global workspace range. In addition, Specific analysis and verification of 3-RPS parallel mechanism are carried out, which proves the correctness and feasibility of the method of kinematics analysis of parallel mechanisms from the perspective of branched chains. It is of great significance to the theoretical research and practical application of parallel mechanisms.