4-RRR冗余并联机构工作空间的SimMechanics求解

发布时间：2018-01-16 20:23

本文关键词：4-RRR冗余并联机构工作空间的SimMechanics求解　出处：《机床与液压》2017年09期 　论文类型：期刊论文

【摘要】：由于传统的工作空间分析方法局限于理论计算,而工作空间分析是机构设计及运动控制的基础,故采用了SimMechanics建立4-RRR冗余并联机构三维仿真实体运动学模型,对工作空间进行仿真研究;利用数值实例以驱动杆和从动杆的影响因子λ为条件采用运动仿真法编程得出了该机构的工作空间。结果表明:该机构的工作空间具有对称性且内部无空洞;当λ逐渐增大时,该机构的工作空间逐渐增大,当λ0.6时边界处的空洞增加,机构在边界的奇异位置点增多。与3-RRR并联机构的工作空间对比,机构的可达工作空间明显增大,这表明引入冗余是一种有效解决3-RRR并联机构的奇异位形多,增大其工作空间的方法。
[Abstract]:Because the traditional workspace analysis method is limited to theoretical calculation, workspace analysis is the basis of mechanism design and motion control. So the 3D simulation entity kinematics model of 4-RRR redundant parallel mechanism is established by SimMechanics, and the workspace is simulated. The workspace of the mechanism is obtained by using the kinematic simulation method under the condition of the influence factor 位 of the driving rod and the follower. The results show that the workspace of the mechanism has symmetry and there is no cavity inside. When 位 increases, the workspace of the mechanism increases gradually, and when 位 0.6, the voids at the boundary increase, and the singularity points of the mechanism at the boundary increase, which is compared with the workspace of the 3-RRR parallel mechanism. The reachable workspace of the mechanism is obviously increased, which shows that the introduction of redundancy is an effective way to solve the singularity of 3-RRR parallel mechanism and increase its workspace.
【作者单位】：河池学院物理与机电工程学院;
【分类号】：TH112
【正文快照】： 0前言学者的研究表明:与串联机构相比,并联机构具有奇异位形和有效工作空间小等缺点[1]。工作空间是衡量并联机构性能的重要指标[2],传统的工作空间求解方法有解析法和数值法两种[3]。Sim Mechanics是机构系统模块集,利用此工具求解工作空间克服了传统方法中对机器人运动学正

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