摘要
针对并联机构运动过程中普遍存在的耦合问题,以一种具有三自由度的3-RRR低耦合度平面并联机构为实例,利用有序单开链法原理对该机构的拓扑结构、耦合度以及位置进行分析,基于SolidWorks软件绘制该机构的3D动态模型,利用该动态模型直观、清晰地分析机构在不同运动状态下的奇异位形,并获得了运动奇异产生的几何条件。通过MATLAB对机构运动学进行仿真分析,获得该机构的速度、加速度曲线,对3-RRR并联机构运动学分析具有较好的辅助作用。
Aiming at the coupling problem existing in the movement of parallel mechanism universally,a 3-RRR planar parallel mechanism with low-coupling-degree and three-degree-of-freedom is taken as an example to solve the problem in this paper.The topological structure,coupling degree and position solution of the mechanism were analyzed by using the principle of ordered single open chain method,and the 3D dynamic model of the mechanism is drawn based on SolidWorks.By using this dynamic model,the singularities of the mechanism in different motion states are analyzed intuitively and clearly,and the geometric conditions of motion singularities are obtained.The kinematics of the 3-RRR parallel mechanism is simulated by MATLAB,the obtained velocity and acceleration curves are helpful to the kinematic analysis of the 3-RRR parallel mechanism.
作者
罗建国
王婷
聂高兴
王宇强
Luo Jianguo;Wang Ting;Nie Gaoxing;Wang Yuqiang(School of Mechanical and Electrical Engineering, North China Institute of Science and Technology, Hebei Sanhe, 065201, China;Hebei Key Laboratory of Safety Monitoring of Mining Equipment, Hebei Sanhe, 065201, China;School of Safety Engineering, North China Institute of Science and Technology, Hebei Sanhe, 065201, China;College of Mechanical and Vehicle Engineering, Taiyuan University of Technology, Shanxi Taiyuan, 030024, China)
出处
《机械设计与制造工程》
2021年第3期19-22,共4页
Machine Design and Manufacturing Engineering
关键词
并联机构
序单开链法
位置分析
奇异位形
仿真
parallel mechanism
sequential single open chain method
position analysis
motion singularities
simulation
