摘要
并联机构进行单支链驱动时,由于受到其他支链的约束,不能实现全行程范围运动.为了分析并联机构单支链驱动受限的本质原因,采用旋量互易积的方法,计算单支链驱动的轴向速度分量.从计算结果可知,轴向速度为零时,单支链驱动到达边界.并联机构在输入空间发生驱动奇异,同时在工作空间发生位姿奇异,因此并联机构的驱动奇异就是位姿奇异.通过分析输入输出速度关系,并联机构到达输入空间边界.最后给出了并联机构单支链驱动的一般策略.
If only one limb of the parallel mechanism was driven, this limb can＇t move in full stroke be cause of the constraints from other limbs. In order to analyze the essential cause of single limb motion limit in parallel mechanism, the metho, d of screw reciprocal product was adopted to calculate the axial velocity compo nent. According to the result, when the axial velocity changes into zero, the single limb motion arrives bound ary. The parallel mechanism is in single limb motion singularity from input space. At the same time the paral lel mechanism is in configuration singularity from workspace. So the single limb motion singularity is equal to configuration singularity in parallel mechanism. By analyzing the input and output velocity at the moment, the parallel mechanism got to the boundary of input space. Finally the general strategy of single limb motion was given.
出处
《北京航空航天大学学报》
EI
CAS
CSCD
北大核心
2014年第1期6-9,共4页
Journal of Beijing University of Aeronautics and Astronautics
基金
航空科学基金资助项目(20081651025)
关键词
并联机构
单支链驱动
旋量互易积
输入空间边界
parallel mechanism
single limb motion
screw reciprocal product
boundary of input space
