压电驱动式台体型并联机构的位置正解研究

发布时间：2018-07-03 01:14

本文选题：压电陶瓷 + 并联机构　；参考：《压电与声光》2017年06期

【摘要】：针对目前六自由度微动并联机构的位置正解无解析解或解析解求解难问题,提出了一种由压电陶瓷驱动12-SPS台体拓扑构型的并联机构,并构建了一种能完全解耦的位置正解模型。通过引入12个关于动平台上4个特征点坐标的中间变量,并根据支链长度和特征点尺度的约束关系,推导出15个二次相容方程,进而建立了输入、输出集合的映射。通过同构方程的合并运算,将正向运动学方程转换成12个线性相容方程。基于方程组系数矩阵的奇异性,讨论了一般及3种特殊情况下中间参量的计算流程,对应于唯一确定的位置正解。实验结果表明,该全解析算法具有效率高,精度高,无增根和失根等优点。
[Abstract]:In order to solve the problem that there is no analytical solution or analytical solution for the position forward solution of a 6-DOF micro-moving parallel mechanism, a kind of parallel mechanism driven by piezoelectric ceramics is proposed, and a position forward solution model is constructed, which can be completely decoupled. By introducing 12 intermediate variables about the coordinates of four feature points on the moving platform and according to the constraint relation between the length of the branch chain and the scale of the feature points, 15 quadratic compatibility equations are derived, and the mapping of the input and output sets is established. By combining the isomorphism equation, the forward kinematics equation is transformed into 12 linear compatible equations. Based on the singularity of coefficient matrix of equations, the calculation flow of intermediate parameters in general and three special cases is discussed, which corresponds to the unique positive solution of position. The experimental results show that the algorithm has the advantages of high efficiency, high precision, no root loss and so on.
【作者单位】：南京林业大学机械电子工程学院;江苏省精密与微细制造技术重点实验室;北京航空航天大学经济管理学院;南京航空航天大学机电学院;
【基金】：国家自然科学基金资助项目(51405237) 江苏省精密与微细制造技术重点实验室开放基金资助项目
【分类号】：TH112

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