一种新型3T1R并联机构的设计与运动学分析

朱松松; 郭宗和; 崔荣江; 杨启志

一种新型3T1R并联机构的设计与运动学分析

1.
山东理工大学, 淄博 255049;
2.
山东省农业机械科学研究所, 济南 250100;
3.
江苏大学, 镇江 212013

基金项目:

国家自然科学基金项目(50905077)、山东省自然基金项目(ZR2012EEL05)资助

详细信息

作者简介:
朱松松(1986-),硕士研究生,研究方向为机构学与创新设计,592715327@qq.com;郭宗和(联系人),教授,guo-zonghe@sdut.edu.cn

朱松松(1986-),硕士研究生,研究方向为机构学与创新设计,592715327@qq.com;郭宗和(联系人),教授,guo-zonghe@sdut.edu.cn

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出版历程
- 收稿日期: 2012-11-27
- 刊出日期: 2015-06-10

The Design and Kinematics Analysis of a Novel 3T1R Parallel Mechanism

1.
Shandong University of Technology, Zibo 255049;
2.
Shandong Agricultural Machinery Research Institute, Jinan 250100;
3.
Jiangsu University, Zhenjiang 2120133

摘要

摘要: 基于被动链原理设计出一种能实现沿X、Y、Z轴平移和绕Y轴转动的新型四自由度并联机构2-RPC/2-SPC,运用向量之间的外积求解了机构的位置反解,推导了机构的位置正解,导出了Jacobian矩阵,分析了速度、加速度、奇异位形及工作空间,并对机构位置正反解进行了数值验证。正解的计算结果与反解的计算结果相吻合。
- 并联机构 /
- 运动学 /
- 奇异位形 /
- 工作空间
Abstract: A new 4-DOF parallel mechanism, i. e. 2-RPC/2-SPC, which could perform three translations and rota-tion about Y axis, was designed based on the principles of passive chain. The vectors cross product was applied to solve inverse solution for the parallel mechanism. And the forward position problem of the parallel mechanism was derived, then the Jacobian matrix of the mechanism was derived and the velocity, acceleration performance, singu-lar configuration and workspace were analyzed. And a numerical verification was fulfilled for the forward and in-verse solutions results. The forward solution is coincident with the inverse solution.
- acceleration /
- degrees of freedom (mechanics) /
- design /
- inverse problems

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参考文献(8)

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