2PPPPS-R-2PPPPS新型串并联机构研究  

A research on the new typed 2PPPPS-R-2PPPPS series parallel connected mechanism

作　　者：罗建国[1] 何茂艳[1] 陆震[2] 黄真[3] 

机构地区：[1]华北科技学院,北京101601 [2]北京航空航天大学电气工程及自动化学院,北京100083 [3]燕山大学机器人研究中心,河北秦皇岛066004

出　　处：《机械设计》2007年第12期10-14,共5页Journal of Machine Design

摘　　要：基于传统的串联和并联机构构建了一种新型6自由度串并联机构,通过直线驱动实现输出主轴的三维移动和转动,利用机构分解和综合得到机构的等效形式;同时也对其位置反解进行了研究,发现其符合限定区域条件下的无穷解,且能够利用数值搜索法得到其全部位置反解;通过输出主轴在空间的位置和姿态对各输入运动参数敏感性的影响进行研究与分析,发现同类运动参数之间存在着程度相同或对称关系,得知4类输入运动参数对输出主轴空间位置的敏感性起关键作用,有3类输入运动参数对输出主轴在空间的姿态敏感性起关键作用,同时还以实例形式计算得到具体情形下的敏感性数值,从而知道各类输入运动参数对输出主轴姿态变化上的影响程度的瞬时差异。A kind of new typed series parallel connected mech： anism was constructed on the basis of traditional series connection and parallel connection mechanism. Three dimensional displacement and rotation of main shaft was realized by means of linear drive, and the equivalent form of mechanism was obtained by the utilization of decomposition and synthesis of mechanism. At the same time a study was carried out on its positional reverse solution as well, its infinite solutions under conditions accord with the limited region were found, and could obtain all its positional reverse solution by the use of numerical value searching method. By means of carrying out research and analysis on the influence of sensitivity of each inputting kinematic parameters affected by the spatial position and gesture of the outputting main shaft, it has been discovered that there exists similar degreed or symmetrical relationships among kinematic parameters of the same kind. It has got to be known that there are four kinds of inputting kinematic parameters played key roles on the sensitivity of spatial positions of outputting main shaft, and there are three kinds of inputting kinematic parameters played key roles on the sensitivity of spatial gesture of out putting main shaft. At the same time the sensitivity numerical value under speci- fic conditions was obtained as well by computations in the form of living examples, thereby the instantaneous difference on the extent of influence on the gesture variation of outputting main shaft affected by each kind of inputting kinematic parameters.

关 键 词：串并联机构 自由度 反解 敏感性分析 参数 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]