调平二自由度球面并联机构运动学分析与求解

发布时间：2019-02-11 20:15

【摘要】：球面并联机构操作灵活、控制简单,尤其适合于飞行器运动模拟、光束指向控制及平台调平领域。为了提高调平效率,提出了一种适用于调平领域的球面并联机构,首先介绍该机构构型,由动平台、底座、两对称分布驱动支链及球副支腿构成。针对机构特点,基于螺旋理论分析机构自由度与约束,给出机构自由度矩阵与约束矩阵,得出该机构有2个转动自由度。依据构型建立机构坐标系,通过构造闭环矢量,建立驱动长度与动平台转动角度的数学模型并求得运动学逆解。利用3D模型进行运动学仿真,求解机构位移、速度、加速度。结果表明,所提出的机构具有较好的位移分辨率且结构简单,可作为倒装键合等调平机构的基础件,具有很好的应用价值。
[Abstract]:The spherical parallel mechanism is flexible in operation and simple in control, especially in the fields of aircraft motion simulation, beam pointing control and platform leveling. In order to improve the leveling efficiency, a spherical parallel mechanism suitable for leveling field is proposed. Firstly, the configuration of the mechanism is introduced, which consists of a moving platform, a base, a two-symmetrical distribution driving branch chain and a ball pair supporting leg. According to the characteristics of the mechanism, the degree of freedom and constraint matrix of the mechanism are analyzed based on the helical theory, and the mechanism freedom matrix and constraint matrix are given, and it is concluded that the mechanism has two rotational degrees of freedom. The mechanism coordinate system is established according to the configuration. By constructing the closed loop vector, the mathematical model of the driving length and the rotation angle of the moving platform is established and the inverse kinematics solution is obtained. The kinematics simulation is carried out by using 3D model, and the displacement, velocity and acceleration of the mechanism are solved. The results show that the proposed mechanism has good displacement resolution and simple structure. It can be used as the foundation of the inverted bonding and leveling mechanism, and has good application value.
【作者单位】：上海工程技术大学机械工程学院;中国科学院光电技术研究所;
【基金】：国家自然科学基金(51305424)
【分类号】：TH112

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