摘要
介绍了一种新型的三自由度纯转动并联机构,进行了结构设计,分析了机构的运动反解和影响机构运动空间的总体约束条件。采用动平台单位法向量的终点能够到达的区域来表示机构的运动空间。以某实际尺寸为例,借助MATLAB以图形方式表示出机构的运动空间,计算出机构的最大旋转角。分析关键因素对机构运动空间及最大旋转角的影响,结果表明:当高度处于使初始杆长在中间位置,动、静平台外接圆半径相差不大时,机构具有较大的旋转角及运动空间。
A novel 3-DOF parallel manipulator of pure rotation was introduced and structural design was addressed. The inverse kinematical solution of the mechanism and the general constraint conditions impacting on the workspace were analyzed. The workspace of manipulator was represented by using the area where the endpoint of unit normal vector of the moving platform was able to reach. Based on an actual dimension as an example, the workspace was shown by using graph method and the maximum rotation angle of the mechanism was calculated with the help of MATLAB. The impact of the critical factors on the workspace and the maximum rotation an-gle were analyzed. The result indicates that when the height is placed causing the initial rod length in the middle position, and the cir-cum circle radius of the dynamic and the static platform are close, the mechanism has quite large workspace and rotation angle.
出处
《机床与液压》
北大核心
2014年第23期87-89,92,共4页
Machine Tool & Hydraulics
关键词
并联机构
运动反解
运动空间
旋转角
Parallel mechanism
Inverse kinematical solution
Workspace
Rotation angle
