RRP-3（SS）多环空间结构的位置分析
Position Analysis of the RRP-3(SS) Multi-Loop Spatial Structure
摘要：
本文对由一个RRP和三个SS串联运动链连接的两个平台组成的空间结构进行了位置分析，其中R、P和S分别代表转动、棱柱和球面运动副。一组三个兼容性方程，代数消除后，在一个28阶单变量代数方程，这反过来又提供了28个解决方案，在复杂的域中的解决问题的结果。在本文中提出的结果的应用是解决方案的正运动学的Tricept，一个著名的并联驱动空间机械手。数值算例表明，该方法在处理两个案例研究中得到了采用。
英文摘要：
The paper presents the position analysis of a spatial structure composed of two platforms mutually connected by one RRP and three SS serial kinematic chains, where R, P, and S stand for revolute, prismatic, and spherical kinematic pair respectively. A set of three compatibility equations is laid down that, following algebraic elimination, results in a 28th-order univariate algebraic equation, which in turn provides the addressed problem with 28 solutions in the complex domain. Among the applications of the results presented in this paper is the solution to the forward kinematics of the Tricept, a well-known in-parallel-actuated spatial manipulator. Numerical examples show adoption of the proposed method in dealing with two case studies.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
