摘要
对一种三角化解耦1T2R并联机构进行型综合,通过分析三角化解耦机构Jacobian矩阵特点,得到其支链驱动副与动平台自由度之间的解耦关系。结合牵连运动与转动自由度条件,得到机构支链自由度。进而以螺旋理论为基础进行型综合。对PU+PRU+PUS机构进行自由度计算,推导出机构位置正反解,分析速度与加速度性能,同时求出正逆Jacobian矩阵,使用ADAMS软件进行建模仿真,验证机构运动学正确性,最后对该机构工作空间进行求解。
A triangle decoupled 1 T2 R parallel mechanism was synthesized by analyzing the characteristics of the Jacobian matrices of a triangle decoupled mechanism. The decoupling relationship between the active pair of branch chains and the freedom of a moving platform was obtained. The freedom of a branched chain was obtained by combining the implicated motion and the conditions of rotational freedom. Then the type synthesis was carried out based on the screw theory, and the structural analysis of the PU+PRU+PUS mechanism was conducted. The degree of freedom of the mechanism, the positive and negative solutions of its position, the velocity and acceleration were analyzed. Meanwhile, the Jacobian matrix was obtained;the ADAMS software was used for modeling and simulation to verify the correctness of the kinematics of the mechanism. Finally, its working space was solved.
作者
何延
刘宏昭
He Yan;Liu Hongzhao(School of Mechanical and Precision Instrument Engineering,Xi′an University of Technology,Xi′an 710048,China)
出处
《机械科学与技术》
CSCD
北大核心
2019年第11期1669-1675,共7页
Mechanical Science and Technology for Aerospace Engineering
基金
国家自然科学基金项目项目(51275404)
陕西省13115科技重大专项(2009ZDKG-33)资助
关键词
并联机构
三角化解耦
型综合
运动学
parallel mechanism
triangle decoupling
type synthesis
kinematics analysis
