本文選題：并聯(lián)機構(gòu)　切入點：運動學　出處：《中國機械工程》2016年10期 　論文類型：期刊論文

【摘要】：針對并聯(lián)機構(gòu)耦合帶來運動學分析與控制困難的問題,提出了一種新型完全各向同性的三維移動并聯(lián)機構(gòu),該并聯(lián)機構(gòu)動平臺和靜平臺之間由3條支鏈連接,3條支鏈的第一個移動副在空間中呈正交分布,使得該機構(gòu)的動平臺具有3個移動自由度,且輸入輸出一一對應(yīng)。這種機構(gòu)最突出的優(yōu)點是運動副簡單,三維移動解耦,運動學分析簡單,便于該機構(gòu)運動控制設(shè)計。采用螺旋理論分析了該機構(gòu)的自由度及性質(zhì),確定了機構(gòu)的主動副,給出了機構(gòu)的位置和速度正反解,分析了機構(gòu)工作空間及運動性能。根據(jù)機構(gòu)輸入輸出關(guān)系,求得機構(gòu)雅可比矩陣,驗證了機構(gòu)具有完全各向同性。研究結(jié)果對該機構(gòu)的進一步應(yīng)用具有理論指導意義。
[Abstract]:Aiming at the difficulty of kinematics analysis and control due to the coupling of parallel mechanism, a novel fully isotropic 3D mobile parallel mechanism is proposed. The first mobile pair connected by three branches and three branches of the parallel mechanism is orthogonal distributed in space, which makes the moving platform of the mechanism have three moving degrees of freedom. The most outstanding advantages of this mechanism are simple kinematic pair, three-dimensional motion decoupling, simple kinematics analysis and easy motion control design. The degree of freedom and properties of the mechanism are analyzed by using helical theory. The active pair of the mechanism is determined, the forward and inverse solutions of the position and velocity of the mechanism are given, the workspace and motion performance of the mechanism are analyzed, and the Jacobian matrix of the mechanism is obtained according to the relationship between the input and output of the mechanism. It is proved that the mechanism is completely isotropic. The results of the study are of theoretical significance for the further application of the mechanism.
【作者單位】： 江南大學江蘇省食品先進制造裝備技術(shù)重點實驗室;上海交通大學機械系統(tǒng)與振動國家重點實驗室;
【基金】：國家自然科學基金資助項目(50905075) 機械系統(tǒng)與振動國家重點實驗室開放課題資助項目(MSV201407) 江蘇省食品先進制造裝備技術(shù)重點實驗室開放課題資助項目(FM-201402)
【分類號】：TH112

【參考文獻】

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本文編號：1626951