摘要
提出一种能够实现两维移动和两维转动的四自由度并联机构,该机构包含3条UPS型驱动分支和1条UPR型驱动分支.建立了该并联机构的三维模型及位置反解方程,利用虚设机构法求出机构一阶和二阶影响系数矩阵,并推导了速度和加速度表达式.利用Jacobian矩阵条件数对机构进行全域性能指标分析,得到机构尺寸变化对性能的影响趋势,以及所给尺寸范围内速度、加速度性能较好的尺寸.数值算例验证了性能指标分析的正确性,为机构优化设计提供了理论依据.
A novel 3UPS-UPR 4-DOF parallel mechanism(PM)w ith three UPS-type active legs and one UPR-type active leg was presented.A three-dimensional model and the inverse kinematic formulas of this PM were constructed,the first-order and second-order comprehensive influence coefficient matrices were derived based on virtual mechanism method,and analytic formulas for solving the velocity and acceleration of this PM were derived.The global performance index of this PM was analyzed using the condition number of Jacobian m atrix,the impact trend of the moving platform and fixed base’s dimensions on global performance index was obtained,and the dimensions w ith good velocity and acceleration performances were obtained.Numerical examples verified the correctness of global performance index,and provided foundation for the optim ization design of PMs.
作者
王学雷
赵栋杰
张宾
李伟
WANG Xue-lei;ZHAO Dong-jie;ZHANG Bin;LI Wei(College of Engineering,China Agricultural University,Beijing 100083,China)
出处
《东北大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2018年第4期532-537,共6页
Journal of Northeastern University(Natural Science)
基金
国家重点研发计划项目(2016YFD0701501)
关键词
并联机构
运动学
虚设机构法
影响系数矩阵
全域性能指标
parallel mechanism
kinem atics
virtual mechanism method
influence coefficient matrices
global performance index
