3-PRS parallel mechanism is capable of moving along the X and Y axes and rotating around the Z axis,however it also brings parasitic motion in the non-independent DOFs.In order to analyze the parasitic motion of 3-PRS parallel mechanism and obtain changes of motion parameters and structural parameters,the mathematical model of the inverse kinematics is established on the basis of analyzing the structure of 3-PRS parallel mechanism.Parasitic motion in the non-independent is analyzed by simulation software MATLAB.The results show that parasitic motion becomes larger with the increase of the motion parameters and structural parameters,which provides theoretical basis and data support for the optimization design and error analysis of the 3-PRS parallel mechanism.%3-PRS并联机构可以实现一平两转运动,但在非独立的自由度上,伴随运动也随之产生.为了分析3-PRS并联机构的伴随运动,得到伴随运动与运动参数及结构参数的关系,建立了3-PRS并联机构的运动学数学模型,利用仿真软件Matlab得到了在非独立自由度上的伴随运动.结果表明,伴随运动随着运动参数的增大而变大,随结构参数的增大而变大,这为3-PRS并联机构的优化设计和误差分析提供了理论依据和数据支撑.
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