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一种冗余驱动并联机构的设计与奇异性分析

黄胜军 刘宏昭

黄胜军, 刘宏昭. 一种冗余驱动并联机构的设计与奇异性分析[J]. 机械科学与技术, 2017, 36(7): 998-1004. doi: 10.13433/j.cnki.1003-8728.2017.0703
引用本文: 黄胜军, 刘宏昭. 一种冗余驱动并联机构的设计与奇异性分析[J]. 机械科学与技术, 2017, 36(7): 998-1004. doi: 10.13433/j.cnki.1003-8728.2017.0703
Huang Shengjun, Liu Hongzhao. Structure Synthesis and Singularity Analysis of a Novel Redundantly Actuated Parallel Mechanism[J]. Mechanical Science and Technology for Aerospace Engineering, 2017, 36(7): 998-1004. doi: 10.13433/j.cnki.1003-8728.2017.0703
Citation: Huang Shengjun, Liu Hongzhao. Structure Synthesis and Singularity Analysis of a Novel Redundantly Actuated Parallel Mechanism[J]. Mechanical Science and Technology for Aerospace Engineering, 2017, 36(7): 998-1004. doi: 10.13433/j.cnki.1003-8728.2017.0703

一种冗余驱动并联机构的设计与奇异性分析

doi: 10.13433/j.cnki.1003-8728.2017.0703
基金项目: 

国家自然科学基金项目(51275404)资助

详细信息
    作者简介:

    黄胜军(1989-),硕士研究生,研究方向为并联机构及机构学,huangshengjun_love@163.com

    通讯作者:

    刘宏昭(联系人),教授,liu-hongzhao@163.com

Structure Synthesis and Singularity Analysis of a Novel Redundantly Actuated Parallel Mechanism

  • 摘要: 在Delta机构的基础上提出一种含冗余驱动的三平移并联机构。基于螺旋理论计算了该并联机构的自由度,分析了位置反解,推导出雅可比矩阵,结合Gosselin奇异分析法,对Delta机构的奇异位形进行分析并找出两种新的奇异位形。将Delta机构和冗余驱动并联机构的奇异性进行比较,为了验证理论分析结果,引入可操作度这一运动性能指标,基于数值法对两种机构的奇异性进行比较。理论分析结果表明冗余驱动并联机构可以实现和Delta机构相同的功能,但其第二类奇异位形明显比Delta机构少;数值分析结果表明选取合适的工作空间和机构参数可减少并联机构的奇异位形,同时也验证了理论分析结果的正确性。
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出版历程
  • 收稿日期:  2016-03-29
  • 刊出日期:  2017-07-05

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