Forward Position Solution and Workspace of Ten-links Stewart Derivative Parallel Mechanism
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摘要: 冗余驱动具有刚度大、承载能力强和运动特性好等优点,设计了10-6、10-5两类构型的10支链Stewart衍生构型,构建了一种数值法和解析法相结合的位置正解半解析算法,并分析了两类构型的工作空间。通过引入虚拟支链,两类构型可进一步衍生为同一种12支链台体型拓扑构型。推导了12支链构型的协调方程,并运用Newton-Raphson法得到虚拟支链的数值解;构建了12支链构型位置正解的全解析数学模型。运用区间分析法研究了两类构型的位置工作空间和姿态工作空间。结果表明,10-5构型的工作空间较规则,且具有良好的对称性。Abstract: Redundant actuation has the advantages of high stiffness, strong load-carrying capacity and good motion performance. 10-6 and 10-5 configurations with ten links were designed, constructing a semi-analytic algorithm combining numerical method and analytical method, and workspace of the two configurations was analyzed. By adding two virtual links, the two configurations can be further derived into the 12 links topological configuration. Compatibility equations of the 12 links configuration were derived, and the numerical solutions of virtual links were obtained by Newton-Raphson method. Based on the geometric relationship between the characteristic points of the moving platform, the full analytic solution of the forward position solution of the 12 links configuration was derived. Furthermore, the position workspace and orientation workspace of the two configurations were studied by interval analysis method. The results show that the workspace of 10-5 configuration is regular and has good symmetry.
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Key words:
- parallel mechanism /
- forward position solution /
- semi-analytic algorithm /
- interval analysis /
- workspace
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表 1 虚拟支链数值结果的误差统计
mm 误差 初始状态 任意状态 δ1 7.46×10−14 4.67×10−10 δ2 3.52×10−13 2.37×10−9 综合误差 2.13×10−13 1.42×10−9 表 2 10-6构型虚拟支链数值解的精度
mm 方程组合 初值偏差 综合精度 5% 10% 15% 20% 50% 100% ①② 2.84×10−14 1.35×10−8 1.55×10−9 发散 发散 发散 5.02×10−9 ①③ 1.47×10−8 4.92×10−12 2.73×10−10 7.12×10−10 发散 发散 3.92×10−9 ①④ 3.76×10−11 1.74×10−8 2.49×10−14 4.16×10−12 发散 发散 4.36×10−9 ①⑤ 6.53×10−10 1.68×10−12 发散 发散 发散 发散 3.27×10−10 ①⑥ 2.84×10−14 1.35×10−8 1.55×10−9 发散 发散 发散 5.02×10−9 ②③ 1.84×10−12 2.56×10−12 发散 发散 发散 发散 2.20×10−12 ②④ 6.53×10−10 1.67×10−12 发散 发散 发散 发散 3.27×10−10 ②⑤ 3.77×10−11 1.74×10−8 1.78×10−14 4.06×10−12 发散 发散 4.36×10−9 ②⑥ 3.55×10−15 1.35×10−8 1.55×10−9 发散 发散 发散 5.02×10−9 ③④ 1.27×10−3 1.31×10−3 8.65×10−4 1.38×10−3 9.23×10−4 发散 1.15×10−3 ③⑤ 1.27×10−3 1.33×10−3 1.03×10−3 1.43×10−3 1.08×10−3 发散 1.23×10−3 ③⑥ 2.56×10−3 2.69×10−3 2.11×10−3 1.47×10−3 2.36×10−3 1.76×10−3 2.16×10−3 ④⑤ 1.27×10−3 1.32×10−3 1.03×10−3 7.08×10−4 1.04×10−3 1.19×10−3 1.09×10−3 ④⑥ 1.27×10−3 1.32×10−3 1.03×10−3 1.42×10−3 1.04×10−3 1.19×10−3 1.21×10−3 ⑤⑥ 1.27×10−3 1.32×10−3 1.03×10−3 1.42×10−3 1.04×10−3 1.19×10−3 1.21×10−3 表 3 10-5构型虚拟支链数值解的精度
mm 方程组合 初值偏差 综合精度 10% 20% 30% 100% 200% 300% ①② 7.16×10−10 7.11×10−15 2.03×10−13 3.83×10−10 发散 发散 2.75×10−10 ①③ 7.16×10−10 0 2.03×10−13 3.83×10−10 发散 发散 2.75×10−10 ①④ 发散 发散 发散 发散 发散 发散 发散 ①⑤ 4.50×10−10 3.55×10−15 2.84×10−14 1.22×10−8 1.11×10−9 发散 2.75×10−9 ①⑥ 4.50×10−10 3.55×10−10 2.84×10−14 1.22×10−8 1.11×10−9 发散 2.82×10−9 ②③ 2.69×10−3 2.93×10−3 2.38×10−3 3.13×10−3 2.48×10−3 2.62×10−3 2.71×10−3 ②④ 1.92×10−9 7.11×10−15 7.11×10−13 3.92×10−10 发散 发散 5.78×10−10 ②⑤ 2.69×10−3 2.93×10−3 2.38×10−3 3.13×10−3 2.48×10−3 2.62×10−3 2.71×10−3 ②⑥ 2.69×10−3 2.93×10−3 2.38×10−3 3.13×10−3 2.48×10−3 2.62×10−3 2.71×10−3 ③④ 1.92×10−9 7.11×10−15 7.11×10−13 3.92×10−10 发散 发散 5.78×10−10 ③⑤ 2.69×10−3 2.93×10−3 2.38×10−3 3.13×10−3 2.48×10−3 2.62×10−3 2.71×10−3 ③⑥ 2.69×10−3 2.93×10−3 2.38×10−3 3.13×10−3 2.48×10−3 2.62×10−3 2.71×10−3 ④⑤ 1.32×10−9 0 3.55×10−13 3.20×10−14 1.16×10−8 3.27×10−13 2.15×10−9 ④⑥ 1.32×10−9 0 3.55×10−13 3.20×10−14 1.16×10−8 3.27×10−13 2.15×10−9 ⑤⑥ 发散 发散 发散 发散 发散 发散 发散 -
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