Abstract:

Kinematics based on 3-PRPS parallel mechanism were studied, and the length between the three vertexes of the platform was regarded as the restrict condition to obtain the constrained equations and thus a closed-form solution of the forward position problem of the parallel mechanism was studied. And all of the forward solution was solved. According to structure characteristics of 3-PRPS parallel mechanism, the vectors dot product and cross product were applied to solve inverse solution for the parallel mechanism. Secondly, a numerical verification was put up to the results of the forward and inverse solutions. The forward solution is coincident with the inverse solution. Last，application of vibration reduction platform of 3-PRPS parallel mechanism was researched, and kinetic simulation was performed. The simulation shows that the mechanism has good vibration reduction performance.

Key words: parallel mechanism, closed-form solution, forward and inverse solution, application

摘要：

以3-PRPS并联机构为研究对象，以机构上平台3 个顶点之间的长度为约束条件，建立约束方程，研究该并联机构正解的封闭解形式，并求解了机构的全部位置正解。基于3-PRPS并联机构自身的结构特点，运用向量之间的内积与外积，求解了机构的位置反解。对正反解的研究结果进行了数值验证，正解的计算结果与反解的计算结果相吻合。最后,研究了该机构在车船用并联机构减振平台方面的应用，并进行了运动学仿真，仿真结果表明该机构具有良好的减振性能。

关键词: 并联机构, 封闭解, 正反解, 应用