转动型3-UPU并联机构的奇异构形分析  

Analysis of the singular configuration of 3-UPU parallel mechanism with pure spherical rotations

作　　者：罗友高[1] 郑相周[2] 宾鸿赞[1] 

机构地区：[1]华中科技大学机械科学与工程学院,湖北武汉430074 [2]华中农业大学工程技术学院,湖北武汉430070

出　　处：《华中科技大学学报（自然科学版）》2007年第3期74-76,共3页Journal of Huazhong University of Science and Technology(Natural Science Edition)

摘　　要：使用四元数变换推导出转动型3-UPU并联机构的雅可比矩阵,根据该机构的几何特点和雅可比矩阵的特点,提出了转动型3-UPU并联机构的奇异构形判别准则.在转动型3-UPU并联机构中,当沿三个连杆的直线相交于一点时(初始构形),或者当动平台方向是由初始构形绕与静平台三角形三边平行的轴线转动而得到时,其构形为奇异;或者在给定的阈值下,当动平台方向是由初始构形绕与静平台平面平行的轴线旋转而得到时,易接近奇异构形.Jacobian matrix is derived for spherical 3-UPU mechanism by unit quaternion transformation. According to geometry of this mechanism, three criteria are put forward to identify singular configuration of the 3-UPU parallel mechanism. When three lines along limbs aer intersected to one point, which is called initial configuration（IC）, or when platform orientation is obtained by rotating platform from IC around axis parallel to one of edges of base triangle, the configuration of the 3-UPU is singular. Or when platform orientation is obtained by rotating platform around axis parallel to the base plane, the configuration is liable to singular on a given threshold precision.

关 键 词：转动型3-UPU 并联机构 奇异构形 大洋采矿 

分 类 号：TH113[机械工程—机械设计及理论]