摘要
从纯几何的角度研究了平面3自由度并联机构工作空间的位置形状和大小与结构参数的解析关系,给出预估工作空间大小和判定机构运动可能性的方法。根据两构件的相互位置关系,用几何法分析了构件之间发生运动干涉的全部可能形式,建立了构件运动干涉判别的解析式。考虑机构每一分支所有可能的位置,提出机构运动干涉判别的准则和步骤。在算例中,以几何分析结合机构运动学反解方程,构造出求解机构整个位形工作空间的方法,在此基础上综合考虑了关节结构约束的限制和机构运动干涉对工作空间的影响。
The analytical relationships between position size and structure parameters of planar 3-DOF parallel mechanism was studied from the prospective of geometry. The method of estimating working space size and discriminated mechanism of motion was given. According to the position relationships between two components, all forms of possible motion interference between components were analyzed based on geometrical method, and analytical expression of discriminated motion interference was established. The motion interference criterion and step of discriminated motion interference was presented according to the possible position of each branch. In the final example, the method of determining mechanism position and work space was derived based on geometric analysis and mechanism kinematical inverse equation, considering the influence of joint structural constraints and motion interference on the working space.
出处
《机械设计》
CSCD
北大核心
2015年第11期40-45,共6页
Journal of Machine Design
基金
陕西省自然科学研究计划资助项目(2011JM7015)
宝鸡文理学院重点科研资助项目(ZK14013)
陕西省教育厅基金资助项目
关键词
并联机构
运动干涉
工作空间
parallel mechanism
motion interference
working space
作者简介
魏宏波（1974-），女，副教授，硕士，研究方向：CAD／CAM、机械系统检测技术。E—mail：cdnkwhb@163．com
