摘要
研究一种新型空间3自由度并联机构(HANA)的奇异性。该机构由定平台、动平台和三个联接支链组成,其动平台相对于定平台具有2个移动和1个转动自由度。其结构主要特点是只采用了单自由度的运动副,构型优势主要是转动自由度灵活度高。详细分析了该机构的三类奇异形位,为以后关于该机构的工作空间和转动能力分析以及控制提供基础,特别是基于合理设计的工作空间内无奇异特性将保证该机构拥有很高的转动能力。该机构不仅可以应用在并联机床的设计中,还可以广泛地应用在工业机器人、飞行模拟器和微型机器人等领域。
The singularity of a new spatial 3-degree-of-freedom(3-DoF)parallel mechanism,which can be used in a parallel kinematics machine,is studied.The mechanism consists of a base plate,a moving platform and three legs that connect the aforementioned two platforms.The moving platform has three DoFs,which are two translations and one rotation,with respect to the base.In this structure,only single-DoF joints are involved.One of the advantages of the mechanism is its high rotational capability.The singularity is analyzed in detail.The analysis is very useful for the investigation on workspace and rotational capability and control issue.The new mechanism can not only be used in the design of a parallel kinematics machine,but be applied to industrial robots,simulators and micro-manipulators as well.
出处
《机械设计与研究》
CSCD
2004年第4期22-25,共4页
Machine Design And Research
关键词
并联机床
并联机构
奇异形位
parallel kinematics machines
parallel mechanisms,singularity.
