摘要
通过求解3-PTT并联机构各支链的螺旋系得到各支链的速度约束子空间。在机构采取不同的虎克铰安装角度时,根据各支链速度约束子空间的基分析了动平台的自由度及其输出速度分量之间的耦合情况,得到4种不同特性的3-PTT并联机构,其中两种连续机构,用ADAMS软件进行了仿真验证。此外还分析了3-PTT并联机构出现奇异位形的条件及相应位形时,机构丧失或增加的自由度。
The velocity constraint subspace of each branch chain was obtained by means of solving the screw system of each branch chain of 3-PTT parallel mechanism. While the mechanism is taking different assembling angle of the Hooke joint, the coupling situation between the DOF of moving platform and the component of its output velocity was analyzed according to the bases of speed constraint subspace of each branch chain. Four kinds of 3-PTTparallel mechanisms with different characteristics were obtained, in which the simulative verification was carried out on two kinds of continuous mechanisms by ADAMS software. In addition, the condition of arising singular configuration on 3-PTT parallel mechanism and the lost or increased DOF of mechanism at the time of relevant configuration were analyzed.
出处
《机械设计》
CSCD
北大核心
2006年第7期51-53,共3页
Journal of Machine Design
关键词
速度子空间
虎克铰
螺旋系
奇异位形
Velocity subspace
Hooke joint
screw system
singular configuration
作者简介
赵建文（1978-），男，黑龙江宁安人，哈尔滨工业大学机器人研究所博士研究生，主要从事并联、串并联组合机构及控制研究。
