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3PUS-S(P)变胞并联机构力传递性能研究

金国光 吴文娟 畅博彦 桑宏强

金国光, 吴文娟, 畅博彦, 桑宏强. 3PUS-S(P)变胞并联机构力传递性能研究[J]. 机械科学与技术, 2016, 35(12): 1817-1823. doi: 10.13433/j.cnki.1003-8728.2016.1203
引用本文: 金国光, 吴文娟, 畅博彦, 桑宏强. 3PUS-S(P)变胞并联机构力传递性能研究[J]. 机械科学与技术, 2016, 35(12): 1817-1823. doi: 10.13433/j.cnki.1003-8728.2016.1203
Jin Guoguang, Wu Wenjuan, Chang Boyan, Sang Hongqiang. Study on Force Transmission Property of a 3PUS-S(P) Parallel Metamorphic Mechanism[J]. Mechanical Science and Technology for Aerospace Engineering, 2016, 35(12): 1817-1823. doi: 10.13433/j.cnki.1003-8728.2016.1203
Citation: Jin Guoguang, Wu Wenjuan, Chang Boyan, Sang Hongqiang. Study on Force Transmission Property of a 3PUS-S(P) Parallel Metamorphic Mechanism[J]. Mechanical Science and Technology for Aerospace Engineering, 2016, 35(12): 1817-1823. doi: 10.13433/j.cnki.1003-8728.2016.1203

3PUS-S(P)变胞并联机构力传递性能研究

doi: 10.13433/j.cnki.1003-8728.2016.1203
基金项目: 

国家自然科学基金项目(51275352、51205287)资助

详细信息
    作者简介:

    金国光(1963-),教授,博士生导师,研究方向为机器人机构学、机械系统动力学及其控制,jinguoguang@tjpu.edu.cn

Study on Force Transmission Property of a 3PUS-S(P) Parallel Metamorphic Mechanism

  • 摘要: 通过建立力螺旋在关节空间与操作空间之间的映射关系,对3PUS-S(P)变胞并联机构进行静力学分析。3PUS-S(P)变胞并联机构由动平台、静平台、3条PUS无约束支链以及1条S(P)变胞恰约束支链组成。机构具有2个构态,构态1时动平台具有3个空间转动自由度;构态2时新增一个垂直于动平台的移动自由度。首先,基于螺旋理论构造机构在不同构态下的6阶完整雅可比矩阵;其次,基于虚功原理得到少自由度变胞并联机构输入与输出之间完整的力映射模型,建立力传递性能评价指标;最后,对力传递性能评价指标与机构几何参数之间的映射关系进行了研究,为机构进一步的应用奠定基础。
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出版历程
  • 收稿日期:  2015-04-29
  • 刊出日期:  2017-01-05

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