任意复杂多回路平面机构及操作手奇异分析的模块法

Module approach for singularity analysis of arbitrary complex multilooped planar linkages and manipulators

提出了求解任意复杂多回路平面连杆机构及操作手奇异位置分析的模块法。即一个复杂机构可看作是由输入主动副和一个或多个零自由度的基本运动链组成 ,对这些数量有限的基本运动链进行奇异分析 ,然后将之看作是复杂机构和操作手奇异分析的基本模块 ;仅当一个基本运动链达到奇异位置时 ,该复杂机构即处于奇异位置。还得到了任意复杂多回路平面机构产生奇异位置的奇异性条件总数的计算公式。因此 ,该方法可求解所有复杂的多回路平面机构及操作手的奇异位置分析。用二个基本运动链及一个十杆复杂机构的奇异分析来演证该方法。

This paper offered a module approach for solving the singular position of arbitrary complex multilooped planar linkages and manipulators. That means a complex linkage can be regarded as a composition of the input driving pair and one or more basic kinematic chains with zero degree of freedom. Carry out a singularity analysis on the finite numbered basic kinematic chains, and then look upon these kinematic chains as the basic modules of singularity analysis of complex linkage and manipulator. Whenever only one of the basic kinematic chains reached to a singular position, it shows that this complex linkage is situated in a singular position. In addition the computing formulae of the total number of singularity requirements for the arbitrary complex multilooped planar linkage to produce a singular position were obtained. Therefore, this method is able to solve the singular position of all complicated multilooped planar linkages and manipulators. This method is demonstrated by the singularity analysis on two basic kinematic chains and one ten-bar complex linkage.