摘要
研究一种三坐标并联动力头——Sprint Z3的运动学逆解和尺度综合问题。由于该机构为平动与转动耦合的并联机构,为解决其雅可比矩阵量纲不一致的问题,提出一种构造量纲一速度雅可比矩阵的方法,并利用该矩阵的条件数构造出运动学优化性能评价指标。为避免机构发生干涉,引入转角约束条件,并将尺度综合问题归结为求解一类非线性代数方程问题。通过算例验证了该尺度综合方法的有效性。
The inverse kinematics and kinematic optimal design of a 3- ,xis parallel machining head Sprint Z3 which had a mix of translational and rotational degrees of freedom were researched. A method to formulate the dimensionless Jaeobian matrix for this mechanism was introduced for solving the problem of inconsistent dimension of Jacobian matrix. The dimensional synthesis of the parallel mechanism was carried out with a goal to minimize the mean value of the condition number of the proposed Jacobian subject to a set of appropriate mechanical constraints. The validity of the optimal kinematic design was testified via an example.
出处
《机床与液压》
北大核心
2011年第17期53-56,共4页
Machine Tool & Hydraulics
关键词
并联机构
运动学逆解
尺度综合
Parallel mechanism
Inverse kinematics
Dimensional synthesis
