3-RUU微动并联机构的尺寸型模型及性能图谱  

DIMENSIONAL MODEL AND PERFORMANCE ATLAS OF THE 3-RUU MICRO-MOTION PARALLEL MECHANISM

作　　者：李剑锋[1] 吴光中[1] 费仁元[1] 刘德忠[1] 管长乐[1] 杨小勇[1] 

机构地区：[1]北京工业大学机械工程及应用电子技术学院,北京100022

出　　处：《机械工程学报》2005年第5期142-146,153,共6页Journal of Mechanical Engineering

基　　金：国家自然科学基金(69885001;60276031)北京市先进制造技术重点实验室开放基金(KP0100200201)资助项目。

摘　　要：基于伪刚体模型及运动学参数的量纲一化,建立了3-RUU微动并联机构的尺寸型模型,该模型在有限区间内给出了3-RUU微动并联机构所有可能的尺寸参数组合,模型空间内的任意一点代表具有相同或相似运动性能的同一族机构。结合对微操作运动性质的分析,提出了作业空间体积值、作业空间形状值及常值雅克比矩阵条件数等三种描述微动机构运动学性能的评价指标,并根据尺寸型模型及定义的性能指标绘制了反映机构性能与尺寸参数关系的性能图谱。Based on the pseudo-rigid-body model and unitary dimension of the kinematic parameters, the dimensional model of the 3-RUU micro-motion parallel mechanism is established, on which all the possible dimensional parameter combinations of the 3-RUU micro-motion parallel mechanism are expressed in a closed region and each point in the region corresponds a cognation of mechanisms having the same or similar kinematic characters. The motion property of the micro-manipulation is analyzed, three kinematic evaluation indexes of the micro-motion mechanism including the workspace volume value, workspace shape value and condition number of the constant Jacobian matrix are presented, and the performance index atlas describing the relationships between the dimensional parameter combinations and mechanism performances are protracted based on the proposed dimensional model and evaluation indexes.

关 键 词：3-RUU微动并联机构 尺寸型模型 性能指标 性能图谱 

分 类 号：TH112.1[机械工程—机械设计及理论]