两转动一平动波浪补偿并联机构的运动学及奇异性分析

Kinematics and singularity analysis of two rotation and one translation parallel mechanism for wave compensation

本文提出一种新型两转动一平动的并联机构构型并对其进行了运动学、机构优化以及奇异性分析。首先,通过上下平台的齐次变换矩阵求解该并联机构的运动学正反解。而后,以位姿调节缸的受力和行程最小为目标函数对机构进行优化设计分析,确定了该机构重力平衡缸的布置形式。最后根据该运动平台的静力学平衡条件,利用Grassmann线几何法找出机构5种奇异位形,并通过数值仿真遍历其整个工作空间,排除了机构存在奇异的情况。

A new type of parallel mechanism with two rotation and one translation was proposed, and its kinematics analysis, mechanism optimization and singularity analysis were carried out. Firstly, the forward and inverse kinematics of the parallel mechanism configuration were solved by the homogeneous transformation matrix of the upper and lower platforms.Then, taking the minimum force and stroke of the position and attitude adjusting cylinder as the objective function, the optimal design and analysis of the mechanism were carried out, and the layout form of the gravity balance cylinder of the mechanism was determined. finally, according to the static equilibrium condition of the moving platform, five singular configurations of the mechanism were found by using the Grassmann line geometry method, and the whole workspace was traversed through numerical simulation to eliminate the singularity of the mechanism.