独立杆组参数矩阵的表达方法
发布时间：2019-05-24 01:34
【摘要】：并联机构中由于各杆组间的约束类型不同导致部分杆组参数向量中含有不独立的混合参数,使得对机构中输出构件自由度数目及性质、机构过约束判断的直观性变差。为构建仅含独立运动参数的杆组参数向量,分别就向量中非独立的"角运动参数"、"非衍生线运动参数"、"衍生线运动参数"展开讨论,基于螺旋理论,通过研究螺旋系的相关性,得到线性无关的基螺旋系,并等价到杆组参数矩阵中,建立独立杆组参数矩阵,最终提出参数垂直分量有效准则。结合该准则,基于GOM自由度新公式,对几种典型机构进行自由度分析,验证这些理论在独立杆组参数矩阵确定、机构自由度求解、输出构件自由度及运动性质分析、过约束判断等方面的应用。
[Abstract]:Because of the different constraint types among the parallel mechanisms, there are not independent mixed parameters in the parameter vectors of the partial rod groups, which makes the intuitionistic judgment of the over-constraint judgment of the mechanism worse for the number and properties of the degrees of freedom of the output components in the mechanism. In order to construct the parameter vector of rod group with only independent motion parameters, the independent "angular motion parameters", "non-derivative line motion parameters" and "derivative line motion parameters" in the vector are discussed respectively. Based on the helix theory, By studying the correlation of helix system, a linear independent base spiral system is obtained, which is equivalent to the parameter matrix of rod group, and the parameter matrix of independent rod group is established. Finally, the effective criterion of parameter vertical component is put forward. Combined with this criterion, based on the new formula of GOM degree of freedom, the degree of freedom analysis of several typical mechanisms is carried out, and these theories are verified in the determination of the parameter matrix of independent bar group, the solution of mechanism degree of freedom, the analysis of the degree of freedom of output components and the analysis of kinematic properties. The application of over-constrained judgment.
【作者单位】： 燕山大学河北省并联机器人与机电系统实验室;燕山大学先进锻压成形技术与科学教育部重点实验室;
【基金】：国家自然科学基金资助项目(51275438,51775473) 河北省高等学校科学技术研究项目(QN2014175) 河北省教育厅高等学校科技计划青年基金资助项目(QN2017144)
【分类号】：TH112
本文编号：2484431
[Abstract]:Because of the different constraint types among the parallel mechanisms, there are not independent mixed parameters in the parameter vectors of the partial rod groups, which makes the intuitionistic judgment of the over-constraint judgment of the mechanism worse for the number and properties of the degrees of freedom of the output components in the mechanism. In order to construct the parameter vector of rod group with only independent motion parameters, the independent "angular motion parameters", "non-derivative line motion parameters" and "derivative line motion parameters" in the vector are discussed respectively. Based on the helix theory, By studying the correlation of helix system, a linear independent base spiral system is obtained, which is equivalent to the parameter matrix of rod group, and the parameter matrix of independent rod group is established. Finally, the effective criterion of parameter vertical component is put forward. Combined with this criterion, based on the new formula of GOM degree of freedom, the degree of freedom analysis of several typical mechanisms is carried out, and these theories are verified in the determination of the parameter matrix of independent bar group, the solution of mechanism degree of freedom, the analysis of the degree of freedom of output components and the analysis of kinematic properties. The application of over-constrained judgment.
【作者单位】： 燕山大学河北省并联机器人与机电系统实验室;燕山大学先进锻压成形技术与科学教育部重点实验室;
【基金】：国家自然科学基金资助项目(51275438,51775473) 河北省高等学校科学技术研究项目(QN2014175) 河北省教育厅高等学校科技计划青年基金资助项目(QN2017144)
【分类号】：TH112
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1 张京军，倪天智，，唐冠雄;退化系统的结构振动特征问题的双参数矩阵摄动法[J];河北煤炭建筑工程学院学报;1995年01期
本文编号：2484431
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