Inverse Kinematic Analysis for 6-PUS Parallel Mechanism Based on Influence Coefficient

China Mechanical Engineering ›› 2014, Vol. 25 ›› Issue (24): 3348-3352.

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Inverse Kinematic Analysis for 6-PUS Parallel Mechanism Based on Influence Coefficient

Xie Zhijiang1;Wang Chengfei1;Shi Haoming2;Wang Junjie1;You Shimao1

1.The State Key Laboratory of Mechanical Transmission,Chongqing University,Chongqing,400044
2.China Electronics Technology Group Corporation 26th Research Institute,Chongqing,400060

Online:2014-12-25 Published:2014-12-30
Supported by:
National Natural Science Foundation of China（No. 51105392）;Natural Science Foundation of Chongqing（No. cstc2011jjA70006）

基于影响系数的6-PUS并联机构逆向运动学分析

谢志江1;王成非1;史浩明2;王俊杰1;游诗茂1

1.重庆大学机械传动国家重点实验室，重庆,400044
2.中国电子科技集团公司第二十六研究所，重庆,400060

基金资助:
国家自然科学基金资助项目（51105392）；重庆市自然科学基金资助项目（cstc2011jjA70006）

Abstract

Abstract:

Inverse kinematics and influence coefficient matrix were received based on the characteristics of a 6-PUS parallel mechanism, and correct kinematics equations were obtained. Then, in order to obtain the corresponding kinematics performance atlas, theoretical analysis and simulation of kinematics performance index were calculated with MATLAB software. A specific example was introduced to verify kinematics performance atlas can provide theoretical proof for the mechanism design and optimization and the choice of control strategy.

Key words: parallel mechanism; , kinematics; , influence coefficient, performance index

摘要：

以一种6-PUS并联机构为研究对象，据其结构特点得到了运动学逆解及影响系数矩阵，建立了正确的运动学方程。利用MATLAB软件对机构运动学性能指标进行了理论计算与仿真分析，获得了相应的运动学性能指标图谱。通过算例证明了该性能图谱能为机构的设计和优化以及控制策略的选择提供理论依据。

关键词: 并联机构, 运动学, 影响系数, 性能指标

CLC Number:

TH133
TP242

Xie Zhijiang, Wang Chengfei, Shi Haoming, Wang Junjie, You Shimao. Inverse Kinematic Analysis for 6-PUS Parallel Mechanism Based on Influence Coefficient[J]. China Mechanical Engineering, 2014, 25(24): 3348-3352.

谢志江, 王成非, 史浩明, 王俊杰, 游诗茂. 基于影响系数的6-PUS并联机构逆向运动学分析[J]. 中国机械工程, 2014, 25(24): 3348-3352.

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Inverse Kinematic Analysis for 6-PUS Parallel Mechanism Based on Influence Coefficient

基于影响系数的6-PUS并联机构逆向运动学分析

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