摘要
基于极限边界数值搜索算法,建立了该机构工作空间的数学模型,并绘出沿Z向理想工作空间截面曲线和三维实体模型。利用虚拟机构法导出了该机构在初始位形下的一阶综合影响系数矩阵和二阶综合影响系数矩阵,进一步绘制了在特定的输入下动平台的速度v和加速度a的关系曲线。该研究结果对该并联机器人的设计及应用都具有重要的意义。
On the basis of searching algorithm of boundary numerical value, the mathematical model of the working space of this mechanism was established, and the sectional curve and 3D entity model of the ideal working space along Z direction were being plotted. Utilizing the virtual mechanism method the first ordered synthetic matrix of affection coefficient and the second ordered synthetic matrix of affection coefficient of this mechanism under the initial configuration were derived. Further more, the relationship curves for the velocity v and acceleration a of moving platform under specific input were protracted. The result of this research possesses important significance on the design and application of the parallel robots.
出处
《机械设计》
CSCD
北大核心
2007年第5期4-8,共5页
Journal of Machine Design
基金
国家自然科学基金资助项目(50075074)
关键词
空间并联机构
工作空间
运动学
spatial parallel mechanism
working space
kinematics
