一种冗余约束并联机构运动学分析

Kinematics Analysis of a Redundant Constrained Parallel Mechanism

从一种冗余约束并联机构在实际应用中的运动控制出发,对该并联机构进行运动学分析。针对并联机构的逆运动学建模问题,通过对其结构约束条件的分析,求解出并联机构部分末端位姿变量的值,从而确认其末端独立的位姿变量,进而完成并联机构的逆运动学求解。针对并联机构的正运动学建模问题,采用中间变量法分别确认其关节变量、末端位姿变量与中间变量之间的函数关系,从而完成并联机构的正运动学求解。基于建立的运动学模型,对并联机构运动空间进行分析,为实际应用提供理论指导。

In this paper,the kinematics analysis of a redundant constrained parallel mechanism is carried out from its practical application.For the inverse kinematics modeling problem of parallel mechanism,the values of its partial end position and pose variables are solved by analyzing its structural constraints.So that the independent variables are confirmed,and the kinematic inverse solution is solved.For the forward kinematics modeling problem of parallel mechanism,the relationship between the joint variables,the end position and pose variables and the intermediate variables are confirmed by the intermediate variable method to complete the forward kinematics solution.Based on the established kinematics model,the workspace of parallel mechanism is analyzed to provide theoretical guidance for practical application.