具有冗余驱动特征的3-RRRS机构的正运动学分析

发布时间：2018-04-12 15:32

本文选题：-RRRS机构 + 冗余驱动　；参考：《机械传动》2016年07期

【摘要】：在动静平台之间采用3-RRRS机构连接,能够实现动平台相对于静平台的6维位姿变化。将S副释放,该机构构型可以用于爬行类仿生机器人的通用结构。该类机构构型由于具有冗余驱动的特征,能够改良动平台的运动性能与工作空间,本文对其正运动学问题进行研究。首先根据结构关系,建立包含冗余驱动变量的运动方程。然后通过Bezout方程及变量代换等,求解冗余驱动变量。最后,给出了动平台方向矩阵及运动轨迹的计算模型,并以算例进行了说明。本文的研究为同类问题的求解提供了参考。
[Abstract]:The 3-RRRS mechanism is used to connect the dynamic and static platforms, which can realize the six dimensional position and pose change of the moving platform relative to the static platform.The S-by-release mechanism can be used in the general structure of reptile bionic robot.Because of its redundant driving characteristics, this kind of mechanism can improve the kinematic performance and workspace of the moving platform. In this paper, the forward kinematics of this kind of mechanism is studied.First, according to the structure relation, the motion equation including redundant driving variables is established.Then the redundant driving variables are solved by Bezout equation and variable substitution.Finally, the calculation model of moving platform direction matrix and motion track is given, and an example is given to illustrate it.The research in this paper provides a reference for solving similar problems.
【作者单位】：黄河水利职业技术学院;黄河科技学院职业技术学院;郑州轻工业学院机电工程学院;
【基金】：河南省高校科技创新团队支持计划(2012IRTSTHN013) 河南省重点科技攻关项目(152102210145)
【分类号】：TH112

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