基于单开链单元的2T-2R并联机构位置正解  

Direct Position Analysis of a 2T-2R Spatial Parallel Mechanism Based on Single-opened-chain

作　　者：冯志友[1] 张策[1] 杨廷力[1] 

机构地区：[1]天津大学

出　　处：《中国机械工程》2006年第13期1395-1398,共4页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(50275070)

摘　　要：给出了一种2T-2R空间并联机构正运动学位置分析的新方法———序单开链法。该方法基于并联机构序单开链结构组成及耦合度算法原理,将机构分解为若干个有序单开链单元,又进一步划分为各基本运动链,计算出各基本运动链的耦合度。根据有序单开链单元之间的约束关系建立与机构拓扑结构相统一的机构位置分析数学模型,无需技巧性降维即可得到维数最少且恰等于机构耦合度的位置正解方程。通过一维搜索得到该机构位置正解的全部实数解。序单开链方法分析过程简明、物理意义明晰,且具有通用性。A new method of direct position analysis for a 2T-2R spatial parallel mechanism based on single-opened-chain was presented. According to the principle of the composition of the order single-opened-chains and the mechanism coupling-degree calculation method, the mechanism can be decomposed into some the ordered single-openedchains, which can further composed some basic kinematic chains, the coupling-degree was given. The mechanism position analysis mathematical model that was uniform with its topological structural characteristics was established. The direct dis- placement equation was derived, the equations＇ number of dimension was iust equal to the mechanism coupling-degree and no skill to decrease the dimension was needed. All real number direct displacement solutions of the parallel mechanism are obtained by one-dimensional search. The analysis process is concise and universal, and its physical meaning is clear.

关 键 词：并联机构 正运动学 位置分析 单开链 

分 类 号：TH112[机械工程—机械设计及理论]