摘要
提出一种具有两转动和一移动自由度的完全解耦并联机构,运用约束螺旋法对机构的自由度数目和运动特性进行分析,推导出了该机构位置正反解的解析表达式,进而求得机构的雅可比矩阵,验证了机构的解耦特性,并对机构的奇异性进行了研究。所提出的解耦并联机构丰富了机构构型库,对其进行的性能分析证实了机构解耦特性,从而为其进一步的应用奠定了理论基础。
This paper presented a fully decoupled parallel mechanism with one degree--of--free- dom（DOF） translation and 2--DOFs rotation. The motion feature of the mechanism and its number of DOF were analyzed by the constraint screw method. The analytical expression of the forward and in- verse position for the mechanism was derived,and the expression of the Jacobian matrix was deduced, which validated the deeoupling feature of the mechanism. The singularity of the mechanism was also carried out. The novel deeoupled parallel mechanism presented herein enriches the mechanism struc- ture, and the performance analysis confirms the decoupling characteristics of the parallel mechanism and establishes the theoretical foundation for its further applications.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2014年第2期241-245,共5页
China Mechanical Engineering
基金
国家自然科学基金资助项目(51005195
51205339)
关键词
并联机构
少自由度
运动解耦
奇异
parallel mechanism
less degrees of freedom
motion decoupling
singularity
