含2个S副间隙6-SPS机构奇异性分析

发布时间：2017-12-28 11:14

本文关键词：含2个S副间隙6-SPS机构奇异性分析　出处：《振动与冲击》2016年07期 　论文类型：期刊论文

【摘要】：6-SPS机构位姿矩阵采用四元数法描述,并将该矩阵和矢量坐标扩展为4维形式,推导出无间隙机构的运动方程,得到了机构运动的新型雅克比矩阵J_A和J_B;在此基础上,利用连续接触模型得到了两个含间隙S副共连杆和异杆时机构的运动系数矩阵。分别把各个运动系数的行列式展开,得到含间隙机构第一类奇异和第二类奇异的轨迹方程,利用MATLAB得到了机构在给定位置时的第一类位姿奇异轨迹和第二类位姿奇异三维轨迹曲面;通过将两类含间隙机构奇异轨迹曲面的比较,发现机构间隙对第二类奇异的影响大于对第一类奇异的影响;在两类奇异轨迹中,当S副异杆时,机构间隙的影响均大于S副共连杆时的影响。以无间隙机构奇异轨迹曲面上奇异点作为参考点,通过含间隙机构奇异轨迹曲面上与参考点相对应奇异点的相互比较,发现存在一个关于参考点的奇异域。
[Abstract]:6-SPS pose matrix is described by four element method, and the matrix and vector coordinate is extended to 4 dimensional form of the equations of motion are derived and gapless mechanism, obtained the motion model of Jacobian matrix J_A and J_B; on this basis, using the continuous contact model obtained two motion coefficient matrix with clearance S deputy total and ISO bar linkage mechanism. The determinant coefficient of each movement, with clearance mechanism of first class of singular and second kinds of singular trajectory equations, using MATLAB mechanism in a given position is the first class and second class singular pose trajectory pose singular surface 3D trajectory is obtained; by comparing the two kinds of mechanism with clearance of singular trajectory surface. We find out the gap on the influence of second kinds of singular is greater than the impact on the first class of singular; in the two class of singular trajectories, when different S vice bar, the influence of institutional gap is larger than S is the vice rod. Based on the comparison of singular points on the singular trajectory surfaces of the clearance mechanism and the comparison of the singular points corresponding to the reference points on the surfaces of the singular locus on the mechanism with clearance, it is found that there exists an odd region about the reference points.
【作者单位】：西安邮电大学自动化学院;
【基金】：陕西省教育厅2014科学研究计划基金资助项目(14JK1655)
【分类号】：TH112
【正文快照】： 并联机器人具有多自由度、大承载力、精度高等优点,在现代工业生产中得到越来越广泛的应用。奇异位形是机构的一个固有属性,当并联机构处于奇异位形时,机构自由度发生变化,给运动控制带来困难[1]。自20世纪90年代就有学者发现,并联机构的奇异位形并不只是工作空间中的一些孤

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