基于GF集的并联机构末端运动特征分析方法  

Method for Kinematic Characteristics Analysis of the End-effector of Parallel Mechanisms Based on G_F Set

作　　者：史巧硕[1,2] 马岱[1] 高峰[2] 余发国[3] 

机构地区：[1]河北工业大学计算机科学与软件学院,天津300130 [2]上海交通大学机械系统与振动国家重点实验室,上海200240 [3]燕山大学机械工程学院,河北秦皇岛066004

出　　处：《南开大学学报（自然科学版）》2008年第5期21-26,共6页Acta Scientiarum Naturalium Universitatis Nankaiensis

基　　金：国家重点基础研究发展规划973项目(2006CB705400);自然科学基金(60534020);航空科学基金(20060157001)

摘　　要：提出了一种基于GF集的机构末端运动特征分析方法,该方法简单直观.GF集是对机构末端的运动特征进行描述的集合.首先介绍了GF集的基本概念,其次提出了基于GF集的并联机构构型方法,介绍GF集的求交运算法则,而后给出了对机构末端运动特征进行分析的步骤.最后,根据该方法分析了D e lta机构,得到了正确的结果.A simple and fast approach for kinematic characteristics analysis of an end-effector of a parallel mechanism based on GF set is proposed, which is intuitive and effective. A GF set is utilized to represent the kinematic characteristics of an end-effector of a parallel mecha- nism. The basic concept of GF set is first introduced. Type synthesis principle based on GF set and intersection algorithms are then presented. The analysis procedure for the kinematic characteristics of an end-effector of a parallel mechanism based on GF set is described. Finally, Delta mechanism is investigated using the method proposed in this paper to demonstrate the methodology.

关 键 词：并联机构 GF集 机构运动特征 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]