摘要
本文提出了一种3-R(4r)(4r)R型全对称三平移并联机构,运用螺旋理论分析了该并联机构实现三平移的机构学原理,进行了驱动输入的选取,分析了机构平台奇异、驱动奇异和支链奇异的特性,建立了机构运动学模型,获得了运动学正、逆解析解,并通过数值仿真验证了正逆解模型的正确性。研究结果表明,该并联机构无平台奇异,运动学模型简单且正解唯一。
A novel absolutely symmetrical 3-R(4r)(4r)R parallel mechanism with three translational degrees of freedom is proposed.Based on the screw theory,the mechanism principle of achieving the three-dimensional translations is analyzed,and the drive input joints are chosen and discussed,and the platform singularity and the drive singularity and the branch singularity of the parallel mechanism are analyzed.Then,the kinematics model is established,and the analytic solutions of the inverse and forward positions are obtained.By use of numerical simulation,the correctness of the inverse and forward position solutions are verified.The research results show that there is no platform singularity in the parallel mechanism,and the kinematic model is simple,and the forward position solution is unique.
作者
韩秀英
李旭莹
黄杰
HAN Xiuying;LI Xuying;HUANG Jie(School of Mechatronics Engineering,Henan University of Science and Technology,Luoyang 471003,Henan,China)
出处
《工程与试验》
2024年第2期15-18,共4页
Engineering and Test
关键词
并联机构
螺旋理论
运动学
奇异性
parallel mechanism
screw theory
kinematics
singularity
作者简介
韩秀英(1970-),女,吉林长春人,河南科技大学机电工程学院实验师,研究方向为机械系统设计及控制。
