摘要
根据6_PUS并联机构的力螺旋平衡方程,采用支链力分解方法推导了该机构的力雅可比矩阵,进而得到其运动雅可比矩阵。由运动雅可比矩阵得到了6_PUS并联机构发生奇异的条件,并以奇异条件为基础归纳了该机构二类奇异的几何特征。为了便于在全工作空间中研究机构的奇异位姿,提出了一种更能反映机构运行需求的奇异域概念,作为研究机构奇异位姿和避免奇异的基础,建立了奇异域的数学表达式。通过仿真研究获得了6_PUS并联机构在全工作空间内2类奇异域的分布,提出了避免机构进入奇异域和发生奇异的方法,为该机构的设计提供了参考。
Based on force screw equilibrium equation of a kind of 6_PUS parallel mechanism and decomposed / force of its＇ branches, force Jaccobian was derived and then kinematic Jaccobian was got. By kinematic Jaccobian, singurality conditions of 6_ PUS parallel mechanism were achieved and the geometry characteristics in two kinds singularities of this parallel mechanism were drawn. In order to study conveniently on singularities of the mechanism in its＇ full work space, a concept that called singularity field was put forward to express the mechanism actually running. As the base to research singularity and to avoid singularity, the expression equations of singularity field were built. The distribution of two kinds of singularities in full work space of this 6_ PUS mechanism was obtained and methods for avoid singularities or forbid mechanism running at singularities point were brought out for reference to design of this kind mechanism.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2012年第12期234-239,250,共7页
Transactions of the Chinese Society for Agricultural Machinery
基金
国家"995工程"二期国防领域科技国家重大专项资助项目(20083001.HT12)
关键词
并联机构
奇异性
奇异域
雅可比矩阵
力螺旋
Parallel mechanism, Singularity, Singularity field, Jaccobian matrix, Force screw
