Based on the Jacobian matrices relating the input speeds with the output speeds of linkages, a general method, which is used for solving the singularities of planar multi-loop multi-DOF linkages, is presented. The fou...Based on the Jacobian matrices relating the input speeds with the output speeds of linkages, a general method, which is used for solving the singularities of planar multi-loop multi-DOF linkages, is presented. The four kinds of singularities of 2-DOF planar seven-bar linkages used in hybrid actuators are analyzed in detail by this method. Its five kinds of singular positions whose characteristics are discussed respectively are discovered. Three approaches are proposed on how to avoid the singular positions of planar multi-loop multi-DOF linkages. Based on the assemblability of planar single-loop N-bar chains or linkages, the geometry conditions are investigated and discovered to avoid the singular positions of the linkages. In order to versify aforementioned conclusions, a case is given in which the singular curves are plotted and simulated.展开更多
以EBZ-30/45小型煤巷掘进采煤机为基础,对远程控制采煤机器人进行了研究.建立了远程控制采煤机器人的三维模型,并分析了其主要组成部分.将采煤机构简化成了混合驱动可控七杆机构模型,利用CO SM O SM otion对远程控制采煤机器人的采煤机...以EBZ-30/45小型煤巷掘进采煤机为基础,对远程控制采煤机器人进行了研究.建立了远程控制采煤机器人的三维模型,并分析了其主要组成部分.将采煤机构简化成了混合驱动可控七杆机构模型,利用CO SM O SM otion对远程控制采煤机器人的采煤机构模型进行了仿真与分析,结果表明:通过混合驱动可控机构可以使较小的输入进行足够的放大,这样可以节省能源,体现了混合驱动可控机构的优越性.而且在一个运动周期内有多次冲击,这一特点非常适用于采煤机器人的工作特性,可以减少反作用力,有利于整台设备的运转.展开更多
文摘Based on the Jacobian matrices relating the input speeds with the output speeds of linkages, a general method, which is used for solving the singularities of planar multi-loop multi-DOF linkages, is presented. The four kinds of singularities of 2-DOF planar seven-bar linkages used in hybrid actuators are analyzed in detail by this method. Its five kinds of singular positions whose characteristics are discussed respectively are discovered. Three approaches are proposed on how to avoid the singular positions of planar multi-loop multi-DOF linkages. Based on the assemblability of planar single-loop N-bar chains or linkages, the geometry conditions are investigated and discovered to avoid the singular positions of the linkages. In order to versify aforementioned conclusions, a case is given in which the singular curves are plotted and simulated.
文摘以EBZ-30/45小型煤巷掘进采煤机为基础,对远程控制采煤机器人进行了研究.建立了远程控制采煤机器人的三维模型,并分析了其主要组成部分.将采煤机构简化成了混合驱动可控七杆机构模型,利用CO SM O SM otion对远程控制采煤机器人的采煤机构模型进行了仿真与分析,结果表明:通过混合驱动可控机构可以使较小的输入进行足够的放大,这样可以节省能源,体现了混合驱动可控机构的优越性.而且在一个运动周期内有多次冲击,这一特点非常适用于采煤机器人的工作特性,可以减少反作用力,有利于整台设备的运转.
