The inverse kinematics of the 3-PRC parallel mechanism are analyzed based on its structural characteristics.The kinematic forward solution of the parallel mechanism is obtained using the Newton iteration method.SolidWorks,MAT-LAB,and Adams software are used for three-dimensional modeling and kinematic simulation of the parallel mechanism.The correctness of the kinematic forward and inverse solutions of the parallel mechanism is verified.In order to limit the overall structural size and obtain a larger workspace,the relevant structural parameters are optimized,and the workspace of the mechanism is obtained through a three-dimensional search algorithm.
维普
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