摘要
目的:针对某轻型越野救护车车载医疗物资和仪器设备在运输过程中受到外界环境激励的问题,以3-RPS少自由度并联机构作为平衡装置,对装置进行运动学分析。方法:通过欧拉角数值法求平衡装置的位置反解,运用矢量构造法构建动平台位姿参数与驱动杆输入之间映射关系的雅可比矩阵,以雅可比矩阵为基础分析装置的灵巧度和奇异性。结果:随着平台高度增加,3-RPS并联机构灵巧度逐步提高;且雅可比矩阵条件数在±5°旋转范围内较为稳定,在条件边界附近变化剧烈,灵巧度波动较大。雅可比矩阵的行列取不到0或者无穷大的值,可以认为在较小的运动范围内,机构几乎不会处于奇异位置,装置运行安全可靠。结论:3-RPS并联机构在Z轴方向上的移动和绕X、Y轴的转动有良好的输出能力,在一定空间内具有较高的灵巧度,且奇异性非常低。该研究可为后续隔振平衡的控制研究提供理论基础。
Objective To execute kinematics analysis of the balancing device based on 3-RPS parallel mechanism in off-road ambulance,so as to solve the problems due to environmental excitation during the transport of medical materials and devices by some light off-road ambulance.Methods Euler's angle numerical method was used to obtain the position inverse solution of the balancing device,and vector construction method was applied to constructing a Jacobian matrix for the mapping between the dynamic platform's positional parameters and the drive rod input.Results As the platform height increased,the dexterity of the 3-RPS parallel mechanism gradually improved;and the Jacobian condition number was stable in the range of±5°rotation,and changed sharply near the boundary of the condition,with large fluctuations in dexterity.The rows and columns of the Jacobian matrix could not be assigned with the values of 0 or infinity,so it could be considered that in a small range of motion,the mechanism could hardly be in a singular position,and thus the device proved its safety and reliability.Conclusion The 3-RPS parallel mechanism has a high output capacity for translation in the Z-axis direction and rotation around the X and Y axes.It has high dexterity in a certain space and very low singularity,which provides a theoretical basis for subsequent studies on the control of vibration isolation balance.
作者
徐鸿佳
牛福
孟令帅
孙景工
XU Hong-jia;NIU Fu;MENG Ling-shuai;SUN Jing-gong(Academy of Systems Engineering of Academy of Military Scienceof Chinese PLA,Beijing 100166,China)
出处
《医疗卫生装备》
CAS
2020年第11期12-16,共5页
Chinese Medical Equipment Journal
关键词
3-RPS并联机构
越野救护车
车载平衡装置
位置反解
雅可比矩阵
灵巧度
奇异性
3-RPS parallel mechanism
off-road ambulance
vehicle-mounted balancing device
position inverse solution
Jacobian matrix
dexterity
singularity
作者简介
徐鸿佳(1996-),男,硕士研究生,研究方向为振动控制,E-mail:xuhongjia0602@tju.edu.cn;通信作者:孙景工,E-mail:sunjg@vip.sina.com。
