Analysison Kinematic and Workspace of 2-RRR Parallel Mechanism
The 2RRR parallel mechanism is a two-degree-of-freedom parallel mechanism for centering mo-tion in space,which is designed to meet the needs of the current master-slave medical surgical robot hand structure design and high-precision motion.The number and properties of the degrees of freedom of the 2-RRR parallel mechanism are first analyzed based on the constrained spiral theory,and the modified Grübler-Kutzbach criterion is used to validate the analysis of the degrees of freedom of the mechanism.Based on the structural properties and geometrical constraints of the mechanism,the closed vector method is used to con-struct a forward and inverse kinematic model of the mechanism and obtain a closed solution for its position.Finally,the kinematic simulation of the mechanism is verified by the simulation software Adams.The simu-lation results prove the rationality of the mechanism design and the correctness of the kinematic solution method,and provide a theoretical basis for the design and application of the parallel mechanism in the mas-ter of the medical surgery robot.
NETL
NSTL
万方数据
维普
