关键词: 并联机构, 少自由度, 3-RPS, 逆动力学, 约束

Abstract:

An analytical investigation is presented into the inverse dynamics of 3-RPS parallel mechanisms featuring symmetrical topology and limited degreeoffreedom (DOF). As the number of DOF is less than six, the limbs of a 3-RPS parallel mechanism must play the role of transmitting actuation and providing constraints simultaneously. However, insufficient attention has been paid to the generalized constraint forces in most literatures. By means of the Newton-Euler formulation, a novel rigidbody dynamic model is put forward for 3-RPS parallel mechanisms.

Key words: parallel , mechanism,  , limited-DOF,  , 3-RPS,  , inverse , dynamics,  , constraint