摘要
设计了一种含混合单开链支路的12-6台体型Stewart冗余并联机构,在构建位置正解模型时发现,该机构的正向运动学可能存在增根或失根的情况。针对该问题,通过挖掘拓扑构型内部固有的尺度约束关系,以及同构方程的消元运算,对所有可能出现多解的位形逐个进行了分析,研究结果显示:该并联机构具有确定的、唯一的位置正解。最后,推导了新型并联机构的全解析解,并通过虚拟试验验证了上述算法的正确性,为动力学控制、工作空间计算等后续工作奠定了重要的理论基础。
Based on a newly presented 12-6 general parallel mechanism,the situation of extraneous roots or loss of roots may happen in the model of forward kinematics. Aimed at the problem,all the situations of multiple solutions were analysed by digging the inherent scale constraint relations within the topological configuration and eliminating the elements of isomorphic equations. The conclusion is proved that this type of parallel mechanism has certain and single forward kinematics solution. In the end,the validity of the above algorithm is verified by virtual tests.
作者
尤晶晶
朱俊豪
符周舟
双家炜
YOU Jing-jing;ZHU Jun-hao;FU Zhou-zhou;SHUANG Jia-wei(College of Mechanical and Electronical Engineering,Nanjing Forestry University,Jiangsu Nanjing210037,China;Jiangsu Key Laboratory of Precision and Micro-Manufacturing Technology,Jiangsu Nanjing210016,China;College of Automobile and Traffic Engineering,Nanjing Forestry University,Jiangsu Nanjing210037,China)
出处
《机械设计与制造》
北大核心
2020年第5期265-267,271,共4页
Machinery Design & Manufacture
基金
国家自然科学基金资助项目(51405237)
江苏省精密与微细制造技术重点实验室开放基金资助项目
江苏省高等学校大学生创新创业训练计划项目(201710298012Z)。
关键词
并联机构
运动学正解
解析法
尺度约束
同构方程
Parallel Mechanism
Forward Kinematics
Analytical Method
Scale Constraint
Isomorphic Equation
