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中文摘要：
3-PRS空间并联机构是2R1T的3自由度机构,由于该空间机构运动的复杂性,故对其工作空间的研究意义重大。以3-PRS并联机构的逆运动学为基础,运用Matlab中的Sim Mechanics功能模块绘制其结构框图,建立该机构的三维实体模型;然后利用数值实例根据滑杆的行程限制条件以及球面副和转动副的转角约束条件采用运动仿真法编程得出了3-PRS并联机构的工作空间。结果表明,该机构的工作空间具有对称性,且内部无空洞,为3-PRS并联机构进一步研究优化设计、控制研究等奠定了一定的理论基础。
英文摘要：
3-PRS spatial parallel mechanism is the 3-DOF mechanism with two rotational and one movement DOE Because of the complexity of the motion of which, it is of great significance to study its workspaces. Based on the inverse kinematics of 3-PRS parallel mechanism, the structure diagram of the mechanism is draw, and the 3D solid model is established by the SimMechanics function module of Matlab. Then the workspace of the 3-PRS parallel mechanism is obtained by using the motion simulation method, which is based on the stroke limit of the sliding rod and the rotating angle constraint condition of the spherical pair and the rotating pair. The results show that the workspace of the mechanism is symmetrical, and there is no empty inside, which for the 3-PRS parallel mechanism to further study and optimize the design, control, etc.
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