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

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

1.
天津工业大学天津市现代机电装备技术重点实验室, 天津 300387

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

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- 文章访问数: 138
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- 被引次数: 0
出版历程
- 收稿日期: 2015-04-29
- 刊出日期: 2017-01-05

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

1.
Advanced Mechatronics Equipment Technology Tianjin Area Laboratory, Tianjin Polytechnic University, Tianjin 300387, China

摘要

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。
- 变胞机构 /
- 雅可比矩阵 /
- 静力分析
Abstract: The static analysis of 3PUS-S(P) metamorphic parallel mechanism is received when the result of force mapping model between joint space and operational space is already gained. The 3PUS-S(P) metamorphic parallel mechanism consists of a moving platform, a static platform, three PUS unconstraint branched chains and an S(P) constraint branched chain. This mechanism has two configurations:in the first configuration, the moving platform is in possession of three revolute degrees of freedom; in the second configuration, the moving platform has an extra translational freedom in the direction of radius which is perpendicular to the moving platform. Based on the screw theory, the complete Jacobian matrix is established firstly. Secondly, the force mapping model between the input and the output is obtained according to the principle of virtual work. Then, the performance index of the force transmission is found. At last, the mapping relationship between the performance index of the force transmission and the geometric parameters of the mechanism is analyzed. The study paves the way for the further application of 3PUS-S(P) metamorphic parallel mechanism.
- metamorphic mechanism /
- Jacobian matrix /
- static analysis

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参考文献(19)

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