一种新型2R完全解耦并联机构的运动学和奇异性分析  

Kinematics and Singularity Analysis of a Novel 2R Fully-decoupled Parallel Manipulator

作　　者：范彩霞[1,2] 刘宏昭[1] 张彦斌[3] 袁格侠[1,4] 

机构地区：[1]西安理工大学,西安710048 [2]焦作大学,焦作454000 [3]河南科技大学,洛阳471003 [4]宝鸡文理学院,宝鸡721007

出　　处：《中国机械工程》2010年第11期1301-1305,共5页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(50575180);陕西省重点学科建设专项基金资助项目;西安理工大学优秀博士学位论文研究基金资助项目(102-210911)

摘　　要：提出了一种完全解耦的二维转动并联机构。基于自由度特征矩阵分析了机构运动类型,运用单开链法确定了机构的自由度和主动副,同时求解了机构的位置和速度,并根据正逆雅可比矩阵系统分析了机构的奇异位形。由于该机构的全局雅可比矩阵为三角阵,该机构的运动完全解耦,因此可以简化机器人轨迹规划和控制。This paper presented a novel two degree-of-freedom （DOF） fully-decoupled parallel mechanism（PM） with two dimensional rotation. First,based on the DOF feature matrix kinematic type was analyzed, and using single open-chain theory the calculation of the DOF of the mechanism and selection of the actuated pairs were performed. Next, the displacement and velocity of the mechanism were analyzed,and according to the direct and the inverse Jacobian matrices of the manipulator singularity conditions were discussed systematically. At last the motion of the mechanism was fully decoupled for the Jacobian matrix being a triangular matrix,which can simplify control and trajectory planning of the mechanism.

关 键 词：并联机构 完全解耦 运动学分析 奇异性分析 

分 类 号：TH112[机械工程—机械设计及理论]