摘要
3-RPUU是一种含UU支链的对称六自由度并联机构,通过计算其瞬时运动螺旋,分析了该机构的奇异位形。首先根据机构几何参数、输入量与动平台输出量计算了支链运动螺旋;然后采用封闭式矢量法,并结合各运动副回转轴线的几何关系,求出机构的位置反解与回转轴线的方向角,进而确定了动平台任意位姿时各运动副的瞬时运动螺旋;最后,根据瞬时运动螺旋推导了机构的奇异位形产生条件,并通过实例证明其适用性。
3-RPUU is a six degree of freedom parallel mechanism（ PM） with 3 limbs involving UU chains,and the singularity of this PM is analyzed based on instantaneous twists. Firstly,by introducing the geography parameters,the inputs of the active joints and the pose parameters of the mobile platform,the kinematic screw system of all the limbs is given. Secondly,using closed vector method and incorporating the geometrical characteristic of each joint,the inverse position solutions and the orientation angle of the rotational axes are calculated,and the instantaneous twists are determined. At last,according to the instantaneous twists,the discriminator of singularity can be obtained and two examples are given to verify the practicality.
作者
杨高炜
张建军
殷玲
李为民
Yang Gaowei, Zhang Jianjun , Yin Ling, Li Weimin(School of Mechanical Engineering, Hebei University of Technology, Tianjin 300130 Chin)
出处
《机械科学与技术》
CSCD
北大核心
2018年第4期510-518,共9页
Mechanical Science and Technology for Aerospace Engineering
基金
国家自然科学基金项目(51175144)
天津市自然科学基金项目(17JCZDJC40200)资助
