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3-RPUU并联机构的奇异分析

杨高炜 张建军 殷玲 李为民

杨高炜, 张建军, 殷玲, 李为民. 3-RPUU并联机构的奇异分析[J]. 机械科学与技术, 2018, 37(4): 510-518. doi: 10.13433/j.cnki.1003-8728.2018.0404
引用本文: 杨高炜, 张建军, 殷玲, 李为民. 3-RPUU并联机构的奇异分析[J]. 机械科学与技术, 2018, 37(4): 510-518. doi: 10.13433/j.cnki.1003-8728.2018.0404
Yang Gaowei, Zhang Jianjun, Yin Ling, Li Weimin. Singularity Analysis of a 3-RPUU Parallel Mechanism[J]. Mechanical Science and Technology for Aerospace Engineering, 2018, 37(4): 510-518. doi: 10.13433/j.cnki.1003-8728.2018.0404
Citation: Yang Gaowei, Zhang Jianjun, Yin Ling, Li Weimin. Singularity Analysis of a 3-RPUU Parallel Mechanism[J]. Mechanical Science and Technology for Aerospace Engineering, 2018, 37(4): 510-518. doi: 10.13433/j.cnki.1003-8728.2018.0404

3-RPUU并联机构的奇异分析

doi: 10.13433/j.cnki.1003-8728.2018.0404
基金项目: 

国家自然科学基金项目(51175144)与天津市自然科学基金项目(17JCZDJC40200)资助

详细信息
    作者简介:

    杨高炜(1984-),博士研究生,研究方向为机构学,ygw19841127@163.com

    通讯作者:

    张建军,教授,博士生导师,zhijun96@139.com

Singularity Analysis of a 3-RPUU Parallel Mechanism

  • 摘要: 3-RPUU是一种含UU支链的对称六自由度并联机构,通过计算其瞬时运动螺旋,分析了该机构的奇异位形。首先根据机构几何参数、输入量与动平台输出量计算了支链运动螺旋;然后采用封闭式矢量法,并结合各运动副回转轴线的几何关系,求出机构的位置反解与回转轴线的方向角,进而确定了动平台任意位姿时各运动副的瞬时运动螺旋;最后,根据瞬时运动螺旋推导了机构的奇异位形产生条件,并通过实例证明其适用性。
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出版历程
  • 收稿日期:  2017-06-29
  • 刊出日期:  2018-04-05

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