多自由度混合冗余驱动机构运动学及可控性分析

Kinematics and Controllability Analysis of n-DOF Hybrid Redundantly Driven Mechanism

提出了兼有混合驱动机构和冗余驱动机构的特点的n-DOF(自由度)混合冗余驱动机构(hybrid redundantly driven mechanism,HRDM)。n-DOF的HRDM由n条对称分布于静、动平台对整个机构不产生约束的支链和一条中间混合冗余驱动支链(hybrid redundantly driven limb,HRDL)组成。机构的自由度由中间支链决定,中间支链由常速电机和伺服电机共同驱动。建立了机构的位置逆解数学模型,进一步对该类机构的可控性进行了研究,得出此类新型混合驱动的空间机构运动是完全可控的。最后,以5-DOF 4-PSS/4R2U HRDM为例,规划工作空间内螺旋曲线,综合运用Matlab和Adams软件验证了所建立的运动学模型的正确性以及机构运动的可控性。研究结果为空间混合驱动机构的发展奠定了理论基础。

n-DOF hybrid redundantly driven mechanism(HRDM)was proposed which had the characteristics of hybrid driven mechanism and redundantly actuated mechanism.The mechanism with n-DOF was composed of n limbs distributed symmetrically in the static and moving platform without any restriction on the whole mechanism and one limb called hybrid redundantly driven limb(HRDL).The degree of freedom of the mechanism was determined by the intermediate branch chain,which was jointly driven by constant speed motor and servo motor.The mathematical model of the inverse solution of the position of the mechanism was established,and the controllability of the mechanism was further studied.Taking 5-DOF HRDM configuration 4-PSS/4R2U as an example,the correctness of the kinematics model of the mechanism was verified using Matlab and Adams software.The motion of the mechanism was completely controllable.The research results provide a theoretical basis for the development of spatial hybrid driven mechanism.