摘要
以一种空间非对称2自由度并联机构为研究对象,通过机构方位特征集理论进行了自由度计算,运用矢量代数法进行正向运动学分析,由雅克比矩阵得到了机构全部奇异位置。基于空间模型理论,综合考虑机构几何尺寸及不同类型输入量取值范围等参数,将上述参数无量纲化处理后作为坐标系,建立了此机构的空间模型。在模型中绘制了此机构奇异曲面,直观分析机构参数与机构奇异性之间的关系,并依据奇异曲面在空间模型中的分布状况,进行机构参数优化,实现减少机构奇异的目的,最后进行了机构工程应用举例。
A Spatial Asymmetric 2-DOF parallel mechanism is studied,and the degree of freedom is studied by theory of position and orientation characteristics （POC）. The vector kinematics method is used to analyze the forward kinematics, and all the singular positions are obtained from the Jacobi matrix. Based on the theory of space model ,considering the geometrical dimensions of the mechanism and the range of different types of input values,the above parameters are dimensionless as the coordinate system, the spatial model of the mechanism is established. The singularity surface is acquired in the model, and the relationship between the parameters of the mechanism and the singularity of the mechanism is analyzed intuitively. According to the distribution of singular surface in the spatial model, the mechanism parameters are optimized and the purpose of reducing the singularity of the mechanism is achieved. At last, the engineering application of the mechanism is provided.
出处
《机械设计》
CSCD
北大核心
2017年第8期85-91,共7页
Journal of Machine Design
基金
国家自然科学基金资助项目(51265003
51365004)
"广西高等学校优秀中青年骨干教师培养工程"专项资助项目
广西高校现代设计与先进制造重点实验室主任课题基金资助项目
广西自然科学基金资助项目(2014GXNSFDA118033)
关键词
并联机构
位置正解
空间模型理论
奇异性
parallel mechanism
position and orientation characteristics
position positive solution
spatial model theory
singularity
