基于单开链单元的2T-2R并联机构正运动学分析  

Forward Kinematics Analysis of a 2T-2R Parallel Mechanism Based on Single-opened-chain Units

作　　者：冯志友[1] 张策[2] 杨廷力[3] 

机构地区：[1]天津工业大学,天津300160 [2]天津大学,天津300072 [3]金陵石化公司,南京210096

出　　处：《机械科学与技术》2006年第12期1471-1475,共5页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金项目(50275070)资助

摘　　要：提出了空间并联机构正运动学速度、加速度分析的一种新方法———序单开链(SOC)法。该方法依据机构的拓扑结构特征,采用相同的序单开链分解线路,建立了与机构位置分析模型相统一的机构速度、加速度分析模型,得到了维数恰等于机构耦合度的并联机构速度、加速度方程。以一种2T-2R并联机构为实例,给出了其速度、加速度分析。A new method for forward kinematics analysis of the velocity and acceleration of a parallel mechanism, namely the single open chain （SOC） method, was presented. Based on the topological structural characteristics of the mechanism, the method uses the same SOC decomposition routes as Ref. 1 and sets up the velocity and acceleration analysis model which is in conformity with the mechanism＇s position analysis model, deriving the velocity and acceleration equation that its number of dimensions equals exact- ly to its degree of coupling. A 2T-2R parallel mechanism was taken for example to analyze its velocity and acceleration.

关 键 词：并联机构 正运动分析 单开链 

分 类 号：TH112[机械工程—机械设计及理论]