混合驱动平面五杆并联机构的工作空间研究

Study on Workplace of the Hybrid-driven Planar Five-bar Parallel Mechanism

针对混合驱动平面五杆并联机构,首先,基于杆件封闭矢量方程,推导出机构工作点(x,y)与常速电机、伺服电机不同组合的转角输入的关系。其次,在机构符合混合驱动平面五杆机构构型的前提下,根据上面推导出的关系计算出工作点坐标,从而高效、精确地定位工作点。此外,应用Matlab软件编程实现了同一混合驱动下机构工作点不同装配角度α时的工作空间,直观地表达了工作点所能达到的范围。最后,考虑到无法避免机构构件的制造与装配误差,运用原始误差独立作用原理,定量地推导出误差对工作空间的影响,具有一定的实际意义。

Aiming at hybrid-driven planar five-bar parallel mechanism,firstly,the relation between the position of the working point and the input corner of normal motor together with the servomotor is derived based on the plural equations of the close links.Under the premise of the mechanism in line with the hybrid-driven planar five-bar mechanism,the relation derived above can be used to make an exact and efficient orientation of the working point.In addition,a workspace drawing of the working point with different assembly angles is derived by using Matlab,and the scope of working point could be achieved is expressed intuitive.Finally,considering the consistent existence of the manufacturing and the assembly error,the principle of error superposition is applied in the quantitative analysis of the error influence on the accuracy of workspace,which has great practical significance.