并联机构动力学性能评价指标的研究

EVALUATION INDEX STUDY ON DYNAMIC PERFORMANCE OF PARALLEL MECHANISM

利用向量范数和矩阵范数理论,导出了机构主动关节驱动力或力矩相对变化量与动平台速度加速度相对变化量之间的解析关系式,提出并联机构速度加速度性能的量化指标,并且它们在工作空间分别趋近于雅可比矩阵和惯量矩阵的奇异位形轨迹,以这两条奇异位形轨迹为边界确定机构工作空间,它们的公共部分可以作为机构动力学性能优良的工作空间。分析了主动关节的速度和加速度引起的耦合作用,提出评定主动关节之间耦合程度的度量指标,为机构的关节解耦控制提供了依据。结合实例,分析了机构速度加速度性能和主动关节之间的耦合性。

Used the theory of a vector norm and matrix norm,derived the analytical relationship of the relative variation quantity between the moving platform speed or acceleration and active joint driving force or torque of mechanism,proposed the evaluation index to quantify the velocity and acceleration performance,approaches respectively the Jacobi matrix and inertia matrix singularity locus in the work space,two singular locus determines the mechanism workspace boundary,the public parts of them can be used as a working space with excellent dynamic performance. Analyzed the coupling effect of the active joint velocity and acceleration. Proposed the evaluation metrics of the coupling degree between the active joints. Combined with the example,analyzed the coupling between the mechanism velocity and acceleration performance and active joints.