摘要
3-RSS/S是一种常见的少自由度并联机构,其运动学及力学性能被广泛研究。针对3-RSS/S并联机构的运动/力传递性能进行研究,使用旋量理论建立机构的数学模型,推导出机构的传递力旋量、输出运动旋量等参数;利用闭环矢量法得到机构的运动学逆解方程,通过数值算法计算逆解;采用能效系数法推导机构的运动/力输入、输出传递指标,定义机构的局部传递指标和优质工作空间;最后以平衡康复训练为应用背景,给出机构在两组参数下性能图谱。结果表明,数值算法能够判定逆解方程在某一构型下的唯一解;3-RSS/S并联机构各支链的运动/力输入传递指标只与各支链逆压力角的余弦有关;设计参数能够显著影响机构的局部传递指标,并从运动/力传递性能方面证明3-RSS/S适合用于平衡性康复训练。
3-RSS/S is a common few degree of freedom parallel mechanism,and its kinematics and mechanical performance have been widely studied.In this paper,the motion/force transmission performance of 3-RSS/S parallel mechanism is studied.The screw theory is used to establish the mathematical model of the mechanism,and the parameters,such as the transmission wrench screw and the output twist screw,are deduced.The inverse kinematics equation of the mechanism is derived by the closed-loop vector method,and the solution of inverse kinematics equation is calculated by numerical algorithm.The motion/force input and output transmission index of the mechanism are derived by using the power coefficient,and the local transmission index and good-transmission workspace of the mechanism are defined.Finally,based on the background of balance rehabilitation training,the performance atlas of the two groups of parameters are calculated.The results show that the numerical algorithm can determine the unique solution of the inverse kinematics equation in a certain configuration.The motion/force input transmission index of each limb of the 3-RSS/S parallel mechanism is only related to the cosine of the inverse pressure angle.The design parameters can significantly affect the local transfer index of the mechanism,and it is proved that 3-RSS/S is suitable for balance rehabilitation training from the aspect of motion/force transmission performance.
作者
索若淇
李辉
SUO Ruo-qi;LI Hui(Department of Mining Engineering,Lvliang University,Shanxi Lvliang 033001,China;School of Mechanical Engineering,North University of China,Shanxi Taiyuan 030051,China)
出处
《机械设计与制造》
北大核心
2022年第11期6-10,16,共6页
Machinery Design & Manufacture
基金
山西省高等学校科技创新项目资助(2019L0978)。
