新型完全各向同性3T并联机构及其特性分析

发布时间：2018-03-17 23:19

本文选题：并联机构　切入点：运动学　出处：《中国机械工程》2016年10期 　论文类型：期刊论文

【摘要】：针对并联机构耦合带来运动学分析与控制困难的问题,提出了一种新型完全各向同性的三维移动并联机构,该并联机构动平台和静平台之间由3条支链连接,3条支链的第一个移动副在空间中呈正交分布,使得该机构的动平台具有3个移动自由度,且输入输出一一对应。这种机构最突出的优点是运动副简单,三维移动解耦,运动学分析简单,便于该机构运动控制设计。采用螺旋理论分析了该机构的自由度及性质,确定了机构的主动副,给出了机构的位置和速度正反解,分析了机构工作空间及运动性能。根据机构输入输出关系,求得机构雅可比矩阵,验证了机构具有完全各向同性。研究结果对该机构的进一步应用具有理论指导意义。
[Abstract]:Aiming at the difficulty of kinematics analysis and control due to the coupling of parallel mechanism, a novel fully isotropic 3D mobile parallel mechanism is proposed. The first mobile pair connected by three branches and three branches of the parallel mechanism is orthogonal distributed in space, which makes the moving platform of the mechanism have three moving degrees of freedom. The most outstanding advantages of this mechanism are simple kinematic pair, three-dimensional motion decoupling, simple kinematics analysis and easy motion control design. The degree of freedom and properties of the mechanism are analyzed by using helical theory. The active pair of the mechanism is determined, the forward and inverse solutions of the position and velocity of the mechanism are given, the workspace and motion performance of the mechanism are analyzed, and the Jacobian matrix of the mechanism is obtained according to the relationship between the input and output of the mechanism. It is proved that the mechanism is completely isotropic. The results of the study are of theoretical significance for the further application of the mechanism.
【作者单位】：江南大学江苏省食品先进制造装备技术重点实验室;上海交通大学机械系统与振动国家重点实验室;
【基金】：国家自然科学基金资助项目(50905075) 机械系统与振动国家重点实验室开放课题资助项目(MSV201407) 江苏省食品先进制造装备技术重点实验室开放课题资助项目(FM-201402)
【分类号】：TH112

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