摘要
提出了一种具有三移动和二转动的多分支耦合并联驱动机构,基于方位特征集法分析了机构自由度及机构末端的运动特征。利用齐次变换法建立了机构的运动学逆解模型,求解了并联驱动机构的全雅可比矩阵。基于牛顿迭代法建立了运动学正解模型,并对理论模型进行了仿真验证。利用CAD变分几何法绘制了机构的可达工作空间。定义了机构的全域位置敏感度系数指标,系统分析了特定工况下的驱动系统分辨率对机构位置分辨能力的影响规律。
A multi-branch coupled parallel driving mechanism with three translations and two rotations was proposed.Degree of freedom and motion characteristics of end for the mechanism were analyzed based on position and orientation characteristics set method.Inverse kinematics model of the mechanisms was established by homogeneous transformation method.Full Jacobian matrix of parallel driving mechanisms was solved.Forward kinematics model was established based on the Newton iterative method,and theoretical model was verified by simulation.Reachable workspace of the mechanisms was drawn by CAD variational geometry method.Global position sensitivity coefficient index of the mechanisms was defined,and the influences of resolution for the driving system on the position resolution of the mechanisms under specific working conditions was analyzed systematically.
作者
张金柱
史汉卿
王涛
黄庆学
姜力
ZHANG Jingzhu;SHI Hanqing;WANG Tao;HUANG Qingxue;JIANG Li(College of Mechanical and Vehicle Engineering,Taiyuan University of Technology,Taiyuan,030024;State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin,150001;Advanced Forming and Intelligent Equipment Research Institute,Taiyuan University of Technology,Taiyuan,030024;Engineering Research Center of Advanced Metal Composites Forming Technology and Equipment,Ministry of Education,Taiyuan,030024)
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2021年第12期1414-1422,1431,共10页
China Mechanical Engineering
基金
国家自然科学基金(51905367)
国家重点研发计划(2018YFB1308702)
机器人技术与系统国家重点实验室开放基金(SKLRS-2020-KF-17)
山西省应用基础面上青年基金(201901D211011)
山西省高等学校科技创新项目(2019L0176)
山西省科技重大专项(20181102016,20181102015)
中央引导地方科技发展专项资金(YDZX20191400002149)。
关键词
并联驱动机构
运动学
雅可比矩阵
位置分辨能力
parallel driving mechanism
kinematics
Jacobian matrix
position resolution ability
