直角坐标串并联机构奇异位形动力学分析  

Dynamics analysis on singular configuration of rectangular coordinated series-parallel 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,北京100083 [3]燕山大学,河北秦皇岛066004

出　　处：《机械设计》2008年第2期42-45,共4页Journal of Machine Design

摘　　要：全新结构的直角坐标串并联机构处于奇异位形时,通过建立动力学方程和欧拉方程,对机构动平台各铰点处的受力状况进行了全面的分析。在给定空间位置和姿态下,已知机构输出端的受力、主轴的运动参数、连杆的运动参数、水平和垂直运动滑块的运动参数,可反向求出它们的动力学反解,并通过计算机语言编程计算和绘图得到直观有效的结果数据。While the all new structured rectangular coordinated series-parallel mechanism was located in the singular configuration, an allsidedly analysis was carried out through the establishments of dynamics equation and Euler equation on the force bearing condition at the places of each articulation point of the mechanism＇s moving platform. Under the conditions of given spatial position and posture,the dynamics reverse solutions of the received force of output end, motion parameter of main shaft, motion parameter of connecting rod, motion parameters of horizontal and vertical moving sliders of the known mechanism can be found in the reverse direction. The visual and effective ending data were obtained via the calculation and drafting by means of computer language programming.

关 键 词：串并联机器人 奇异 动力学 动平台 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]