摘要
分析驱动器布位及冗余驱动对3自由度Tricept并联机构性能的影响,针对18种冗余及非冗余驱动方式,导出相应的机构雅可比矩阵及刚度矩阵。结合运动灵活度、最大和最小刚度指标在机构位置空间中部断面上的分布特点,对不同驱动器布位及冗余驱动方式下的机构性能进行分析对比,并以此为基础提出兼顾运动灵活度及刚度特性的机构驱动方式。分析表明,冗余驱动对UPS支链主动关节均为移动副的Tricept并联机构的灵活度与刚度影响较小,但可显著改善主动关节均为转动副机构的运动灵活度及刚度特性,因此可在UPS支链主动关节均为转动副的Tricept并联机构中,通过增置冗余驱动器获得较佳的机构性能。
The effects of actuator disposition and redundant actuation on performance of the 3-DOF Tricept parallel mechanism are analyzed. For eighteen redundant and non-redundant actuating modes, the corresponding Jacobian and stiffness matrices are educed. According to the distributing properties of the kinematic dexterity, the maximal and minimal stiffness indices on mid section of mechanism＇s positional workspace, the performance characteristics of tricept mechanisms with different actuator disposition and redundant actuation are contrastively investigated. As a result, the actuating modes which can simultaneity enhance the kinematic dexterity and stiffness characteristics are presented. The investigation shows that redundant actuation has less effect on dexterity and stiffness of the tricept parallel mechanism in which the sliders of UPS sub-chains are adopted as the driving joints, but it can evidently improve kinematic dexterity and stiffness characteristics of the mechanisms with actuating rotational joints. Thus, the redundant actuators can be added to the Tricept mechanism, in which the rotational joints of UPS sub-chains are used as the driving joints, to acquire better mechanism performance.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2008年第1期31-39,共9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。
关键词
TRICEPT并联机构
驱动器布位
冗余驱动
性能比较
Tricept parallel mechanism Actuator disposition Redundant actuation Performance comparison
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与控制算法，并联机床设计理论与方法，发表论文30余篇。E-mail：lijianfeng@bjut．edu．cn
