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2-PRS-PRRU并联机构运动学与奇异分析 被引量：23

Kinematics and Singularity Analysis of 2-PRS-PRRU Parallel Mechanism
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摘要 [PP]S类并联机构可实现1移动自由度和2转动自由度,具有广泛的应用前景。2-PRS-PRRU并联机构属于[PP]S类并联机构。运用螺旋理论分析2-PRS-PRRU并联机构的自由度特性,确定动平台的两条连续转轴。研究2-PRS-PRRU并联机构的伴随运动,证明该机构无伴随运动。建立该机构位置正/逆解模型,推导出位置正/逆解的解析表达式,进而求得该机构的雅可比矩阵。通过对雅可比矩阵的分析,确定机构的逆解奇异、正解奇异和混合奇异。2-PRS-PRRU并联机构具有确定的连续转轴和无伴随运动的特性,使其在实际应用中具有很大潜力。 The family of S parallel mechanism can undergo one translational degree of freedom（DOF） and two rotational DOFs,thus having great potential in practical application.The 2-PRS-PRRU parallel mechanism belongs to the family of S parallel mechanism.Mobility property of the 2-PRS-PRRU parallel mechanism is analyzed by using screw theory and the two finite rotational axes are identified.Parasitic motion of the 2-PRS-PRRU parallel mechanism is studied.It is proved that this parallel mechanism has no parasitic motion.The forward and inverse position kinematics models are established and the analytical solution is obtained.Jacobian matrix of the 2-PRS-PRRU parallel mechanism is obtained.Inverse,forward and combined singularities are identified based on the analysis of the Jacobian matrix.The 2-PRS-PRRU parallel mechanism has great potentials in practical application because of its identified finite rotational axes and zero parasitic motion.
作者 李秦川 孙晓东 陈巧红 武传宇
机构地区 浙江理工大学浙江省现代纺织装备技术重点实验室
出处 《机械工程学报》 EI CAS CSCD 北大核心 2011年第3期21-27,共7页 Journal of Mechanical Engineering
基金 国家自然科学基金(50905167) 浙江省自然科学基金(R1090134)资助
关键词 并联机构 运动学 伴随运动 奇异 Parallel mechanism Kinematics Parasitic motion Singularity
分类号 TH112 [机械工程—机械设计及理论]
  • 相关文献

参考文献15

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二级参考文献40

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共引文献93

同被引文献255

引证文献23

二级引证文献182

机械工程学报
2011年 第3期

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