摘要
可控机构是指单自由度机构中的某些结构运动参数或机构输入运动,和多自由度闭链机构中的某些运动可由微机进行实时控制,或以人工方式进行多个固定位置的控制,以达到柔性输出、改善机构的运动学和动力学特性的目的。基于可控机构理论提出了一种新型三自由度多连杆混合驱动可控机构,并使用Newton-Raphson法对该混合驱动机构进行运动学建模,得到该混合驱动机构的正逆解,然后对该可控机构正解进行了数值求解,最后利用运动学正解和奇异性判断条件在MATLAB软件中进行程序编写,得到该可控机构主要工作空间参数,并且绘制了工作空间示意图。其结果显示该混合驱动机构不仅具有灵活度高、微机实时控制、柔性化输出的优点,而且工作空间符合挖掘作业要求,在工程上具有一定的实用性。本研究为该混合驱动机构后续的动力学分析和控制系统设计提供了基础。
Controllable mechanism refers to a single degree of freedom mechanism with some structures＇ motion parameters or input motion, and multi-degree of freedom linkage mechanism with some motion can be real-time controlled by computer or multiple fixed position be controlled by hand, in order to get flexible output and im- prove the kinematic and dynamic characteristics of mechanism. According to the controllable mechanism theory, a novel three degree of multi-link hybrid-driven mechanism was developed , and established the kinematic mod- el of hybrid-driven mechanism based on Newton-Raphson method, and obtained the forward and inverse solution of hybrid-driven mechanism＇ s position, and numerical solution of the forward solution. According to the kine- matic forward solution and the singularity judgment condition, the program was wrote in MATLAB, then ob- tained the working space main parameters and sketch map of hybrid-driven mechanism. The results show the hybrid-driven mechanism is favorable flexible, all-time control, flexible output and practicable, and the working space meets mining operation. This study provides a basis for the subsequent dynamic analysis and control sys- tem designing of the hybrid-driven mechanism.
出处
《重型机械》
2016年第5期61-67,共7页
Heavy Machinery
基金
国家自然科学基金项目(51075077)
