并联机构力传递的分析  

Analysis on Force Transmission of Parallel Mechanism

作　　者：韩江义[1] 游有鹏[1] 王化明[1] 朱剑英[1] 

机构地区：[1]南京航空航天大学江苏省精密与微细制造技术重点实验室,江苏南京210016

出　　处：《机器人》2009年第6期523-528,共6页Robot

基　　金：国家自然科学基金资助项目(50975144);江苏省自然科学基金资助项目(BK2008395)

摘　　要：以Delta并联机构为例,利用矢量力学方法和虚功原理建立静力传递数学模型.通过模型仿真分析了机构运动件重力补偿力矩.提出了机构的力传递能力概念,探讨了工作点的力传递能力和力雅可比矩阵条件数的关系,初步分析了给定工作空间力传递能力的分布.提出的力传递指标和所得结论可用于优化Delta机构以及其他机构的力传递性能.A mathematical model of static force transmission for the Delta parallel mechanism is established by using vector mechanics and virtual work principle. The gravity compensation torque of kinetic parts is analyzed through model simulation. The concept of force transmission capacity is proposed, the relation between force transmission capability and condition number of the force Jacobian matrix in operation position is discussed, and distribution of force transmission capacity is analyzed initially in a given workspace. Results obtained and force transmission index proposed can be applied to optimizing force transmission performance of the Delta mechanism and other mechanisms.

关 键 词：并联机构 力传递 DELTA 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]