摘要
提出一种具有较大位置空间的3自由度并联机构,该机构为Tricept机构的变异型,结构特点是将Triccpt机构中的被动支链与三条主动支链之一相集成,且主动关节的三条轴线彼此垂直并汇交于一点。对机构的位置空间、运动灵活度及刚度特性进行分析,给出表征尺度参数改变与机构运动性能变化关系的图形描述。分析表明,对于不同的尺度参数组合以及较小的胡克铰、球铰的极限转角,机构动平台均可获得较大的位置空间;位置空间的中部区间占整个位置空间体积值较大,且在该区间内动平台具有较好的运动灵活度及刚度特性。给出的图形描述较全面地表征尺度参数与机构运动性能之间的关系,可用于机构性能的进一步分析与运动学设计。
A 3-DOF parallel mechanism with large positional workspace is proposed, which is a varietal type of the Tricept mechanism. The structural characteristic of the presented mechanism is that the passive sub-chain of Tricept mechanism is integrated into one of its three active sub-chains, and the three axes of active joints are perpendicular to each other and intersect one point. The positional workspace, kinematic dexterity and stiffness property of the mechanism are analyzed, The graphic descriptions of the relationships between performance changes of mechanism versus the varieties of its dimensional parameters are presented. The analysis shows that for mechanisms with different dimensional parameter combinations and smaller limitative angles of universal and spherical joints, the movable platforms can obtain large positional workspaces. In addition, the mid-regions hold larger proportion of volume values of the positional workspaces, and the movable platforms have better dexterity and stiffness in mid-regions. The graphic descriptions acquired illuminate the relationships between kinematic performance and mechanism＇s dimensional parameters fully and can be applied to further characteristic analysis and kinematic design of mechanisms.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2007年第8期53-59,共7页
Journal of Mechanical Engineering
基金
国家自然科学基金(60275031)
北京市先进制造技术重点实验室开放基金(KP0100200201)资助项目。
作者简介
李剑锋，男，1964年出生，博士，副教授。主要研究方向为机器人操作制算法，并联机床设计理论与方法，发表论文30余篇。E-mail：lijianfeng@bjut．edu．cn
