新型含子闭环并联机构的灵巧性研究

The Dexterity Research of A Novel Parallel Mechanism With Sub Closed-chains

以新型含子闭环的3-5RUU并联机构为对象,对其灵巧性进行研究。首先运用D-H法建立了机构的位置逆解方程,并利用ADAMS仿真验证了方程的正确性,进而对其求导得出了速度雅克比矩阵;然后将线速度全条件性指标和角速度全条件性指标作为机构的灵巧性评价指标,通过两指标的变化曲线图,分析了机构尺度参数对灵巧性的影响;最后将3-5RUU并联机构与Stewart机构的灵巧性评价指标进行了对比,结果表明3-5RUU并联机构有更优的线速度灵巧性和角速度灵巧性。

A novel 3-5RUU parallel mechanism with sub closed-chains is used as the object, and its dexterity is studied. Firstly, the kinematic positional inverse solution equations are established based on D-H method, and the correctness of these equations are verified by ADAMS simulation, and then the velocity Jacobian matrix is obtained by deriving the derivative of these equations;Then, linear velocity Globe Condition Index and angle velocity Globe Condition Index are taken as dexterity evaluation indexes of the mechanism, and the influence of the mechanism scale parameter on the dexterity is analyzed by the change curve of the two indexes;Lastly, comparing the dexterity evaluation indexes of 3-5RUU parallel mechanism with these of Stewart platform, the results show that 3-5RUU parallel mechanism has better line velocity dexterity and angular velocity dexterity.