基于约束的4自由度并联机床的可达工作空间分析

针对一种新型的4-DOF并联机构的结构特点,采用基于逆解计算的网格法对其工作空间求解的算法进行了详细的分析,并利用Matlab编制了相应的程序,以Matlab图的形式描绘了几种情况下的工作空间区域,并对此进行了分析。

Aimed at a novel 4-DOF parallel manipulator, the paper brings forward a grid approach which based on the inverse kinematics result to get its workspace. Analyses the kinematics of this kind of parallel manipulator, brings out the formula of the inverse kinematics, then programs with the Matlab, gives several figures of workspace with different parameters and then Analyses it finally.