6-SPR并联机构运动学的一种分析方法  

Method for Kinematics Analysis of the 6-SPR Parallel Mechanism

作　　者：孙恒辉[1] 刘正士[1] 陈恩伟[1] 

机构地区：[1]合肥工业大学机械与汽车工程学院,合肥230009

出　　处：《农业机械学报》2009年第1期194-197,共4页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金资助项目(60543002)

摘　　要：以建立惯性参数辨识的动力学方程为目的,提出了6-SPR并联机构运动学的一种分析方法。首先将各分支链视为独立的串联机构,确定各构件的空间位姿。其次构造并合理简化影响系数矩阵,将质心坐标从矩阵中分离出来,则构件的运动可以唯一地用其自身的质心坐标表示。以上平台为例进行理论计算,并用ADAMS软件进行了仿真验证。Aiming to identify the inertial parameter of parallel robots, an improving method for the kinematics analysis of 6 - SPR was proposed. First, by using the methods similar to series robot, the special position of each component in each branch was determined for constructing influence coefficient matrixes. Second, the barycentric coordinates were separated from the matrixes with proper simplifications. Then the motions of components can be linked linearly with its barycentric coordinates. An example about upper mounting plate＇s motion was simulated by the ADAMS software to show the effectiveness of the method.

关 键 词：并联机构 空间位姿 影响系数法 运动学分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]