摘要
提出了一种平行导轨二滑块驱动在一侧且内点作为操作点的平面两自由度并联操作手,求解得到了该并联操作手显式的位置正反解、雅可比矩阵、机构的速度与加速度逆解,系统分析了机构设计参数对机构可达工作空间的影响,并给出了各种情况的工作空间大小;利用雅可比矩阵法讨论了机构奇异位形发生的数学条件以及如何求解奇异轨迹,并给出了奇异位形与杆件尺寸之间的关系。为并联操作手的样机研制及控制策略研究奠定了理论基础。
A new kind of 2-DOF parallel manipulator driven by two slide blocks movement on the parallel guide is presented. The forward and inverse kinematics of this manipulator is analyzed. The Jacobin matrix and the inverse velocity and inverse acceleration are solved. The results are all expressed and the volume of workspace in various status is given. Furthermore,based on the Jacobin-matrix method,both the mathematical conditions of which the singular configuration of the manipulator occurred and the analytical method of sigular track are obtained. The results are useful to the manufacturing and controlling of 2-DOF parallel prototype.
出处
《机械设计与研究》
CSCD
北大核心
2010年第5期31-35,43,共6页
Machine Design And Research
基金
江苏省自然基金资助项目(BK2008145)
关键词
并联机构
运动学
工作空间
雅可比矩阵
奇异性
parallel manipulator
kinematic analysis
workapace
Jacobins matrix
singularity
