摘要
以几何分析的方法建立平面三自由度并联机构工作空间与结构参数的关系,研究了工作空间的形状随结构参数的变化,提出机构满足运动可能性的条件。将机构对工作空间的要求看作是对结构参数的几何约束,进行优化设计,既满足了机构对工作空间的要求,又兼顾了机构的其他性能要求。依据机构逆向运动学建立的位置和速度关系,以机构满足几何约束为准则,探索了机构整个位形工作空间,从几何角度分析了机构产生奇异位形的原因,研究了奇异位形在工作空间的分布和对工作空间的分割情况,提出确定机构无奇异位形工作空间的方法。
The relationship of workspace and structure parameter of three degree of freedom planar parallel mechanism is established by using the geometric analysis method,the changes of the shape of working space with the structure parameters is studied,and the condition for the mechanism meet the possibility of the movement is proposed.Taking the requirements of the mechanism on the workspace as geometric constraints to the structure parameters,and the optimization design is carried out to meet the requirements of working space,as well as the other performance requirement of mechanism.The relationship between position and velocity of the mechanism is built on the basis of the inverse kinematics,taking the mechanism satisfying geometric constraints as the criterion,the entire configuration space of mechanism is explored,the reason of mechanism generating singularity from the perspective of geometry is analyzed,the singular configuration distribution in the working space and the space segmentation is researched and the method for determining the mechanism without singularity workspace is presented.
出处
《机械传动》
CSCD
北大核心
2014年第11期54-59,共6页
Journal of Mechanical Transmission
基金
陕西省自然科学研究计划项目(2011JM7015)
关键词
并联机构
逆向运动学
奇异位形
工作空间
Parallel mechanism
Inverse kinematics
Singular configuration
Working space
