摘要
通过建立冗余驱动4-S■S-1-S型并联机构的速度映射解析方程,求出机构的Jacobian矩阵;引入并定义承载力与驱动性能作为机构的动力学性能评价指标,建立了衡量并联机构承载能力和驱动性能的解析方程,结合具体算例仿真分析了该并联机构的两类动力学性能指标在任务空间的分布规律,对机构进行了动力学性能评价。研究结果表明,该机构的承载力与驱动性能指标在运动过程中呈现出较好的各向同性,在任务空间内具有较好的动力学性能。
Dynamic performance indices of a spatial rotation 4-SPS-1-S parallel manipulator has been studied.The 4-SPS-1-S parallel manipulator has spatial three pure rotation degrees of freedom,including four SPS active legs and one passive constraining leg.Based on the velocity mapping equations of the mechanism,Jacobian matrices were built and computed.The dynamic performance indices which include load capacity performance and actuating performance were introduced and defined,and analysis equation for assessing the load capacity and actuating performance of the parallel manipulator mechanism was built.Finally a numerical example was provided for analyzing the dynamic performance indices distribution rules over the entire workspace.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2010年第7期214-218,共5页
Transactions of the Chinese Society for Agricultural Machinery
基金
河北省自然科学基金资助项目(E2010001010)
关键词
并联机构
动力学性能指标
承载力性能
驱动性能
Parallel mechanism
Dynamic performance index
Load capacity performance
Actuating performance
