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中文摘要：
建立了3-RRP平面并联机构的正反解方程,利用Matlab/Simulink中的SimMechanics功能模块建立3-RRP平面并联机构以及其结构框图.采用滑杆的行程限制条件编程得出了3-RRP平面并联机构的工作空间范围.利用条件数转化到其倒数来对3-RRP并联机构进行灵巧度分析,得出了该机构的灵巧度的分布等高线,灵巧度在整个工作空间分布均匀,验证了该机构的运动学处于各向同性,各项性能也较好,研究结果为3-RRP平面并联机构优化设计和动力学研究等奠定理论基础.
英文摘要：
The positive and inverse solution equations of the 3-RRP planar parallel mechanism are established, and the 3-RRP planar parallel mechanism and its structure block diagram are established by using the SimMechanics function module in Matlab/Simulink. The 3-RRP planar parallel mechanism workspace range is obtained by the sliding rod travel constraint programming. The dexterity of the contour line of the 3-RRP parallel mechanism is obtained by the condition number into the countdown to the dexterity analysis, the distribution of the whole workspace is uniform, and the kinematic of the mechanism is isotropie, and a variety of performance are also good. The results of the study for 3-RRP planar parallel mechanism takes as the theoretical basis for optimization design and dynamics research.
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