3-RPRS并联机构的运动学及仿真研究
Research on Kinematics and Simulation of 3-RPRS Parallel Mechanism

以3-RPRS并联机构为研究对象，机构动平台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；运用欧拉角描绘物体运动的Z-Y-X型坐标变换法将动平台顶点坐标转换到定坐标系中，求解了位置反解。对正反解结果进行数值验证，并进行了ADAMS运动学仿真，验证数值计算正反解的结果是正确的。最后，研究了该机构在跳跃机器人关节中的应用，并进行了运动学的仿真，结果表明该机构有类似蛙跳的功能。
A new 3-RPRS parallel mechanism is proposed and its degrees of freedom are calculated. Kinematics based on 3-RPRS parallel mechanism were studied, and the lengths between the three moving platforms were regarded as the restrict conditions to obtain the constrained equations and thus a closed-form solution of the forward position problem of the parallel mechanism was studied. The vertex coordinates on the moving platform are expressed on the fixed coordinate system by coordinate transformation method. Based on the constant length between the three vertexes constraint equations are obtained, and then inverse problem for the mechanism are gotten. A numerical verification was put up to the results of the forward and inverse problems. The forward problem is coincident with the inverse problem. Lastly, application of joint of hopping robot of 3-RPRS parallel mechanism was researched