摘要
工作空间是并联构型装备性能评价的一项重要指标。基于逆运动学模型,给出新型三坐标并联动力头A3头的可达工作空间和灵活工作空间的定义,并根据工程实际限制,列出了杆长、关节转角、电主轴干涉和奇异性等约束条件,进而利用数值搜索法确定出满足约束条件的工作空间和灵活工作空间的边界,为动力头的详细结构设计提供了理论依据。
Workspace is considered as one of the important indexes for evaluating the performance of parallel kinematic machine. Base on the inverse kinematics models,definition of the reachable workspace and dextrous workspace of 3 dimensional parallel power head,A3 Head,were given.By considering the actual restriction of the engineering,constraint conditions such as limb length,revolute angle of the joint,motor main shaft interface and singularity were listed.Then boundary o can meet the reachable workspace and dextrous workspace was determined by using numerical search method,providing theory basis detailed structure design of the power head.
出处
《机械设计》
CSCD
北大核心
2010年第11期65-68,共4页
Journal of Machine Design
基金
国家科技支撑计划重点资助项目(2006BAF01B00)
天津职业技术师范大学科研启动基金资助项目(KYQD09005)
关键词
并联动力头
可达工作空间
灵活工作空间
工程约束
parallel power head
reachable workspace
dextrous workspace
engineering restriction
