一种两自由度并联机构位置分析与仿真  

Position analysis and simulation for 2-DOF parallel mechanism

作　　者：吴巍 

机构地区：[1]镇江高等职业技术学校,镇江212013

出　　处：《机械设计与制造》2011年第5期113-115,共3页Machinery Design & Manufacture

基　　金：国家"863"高科技资助项目(2008AA040205);高等学校博士点专项科研基金资助项目(20050299002)

摘　　要：依据中医推拿中常用的滚法、按法、揉法、振法等手法的运动学及动力学特征,得出完成各推拿手法的运动输出矩阵和施力方向。采用串联机械臂与并联机构结合的方式实现推拿手法中五种运动。其中依据并联机器人型综合理论,以单开链支路为单元,提出了一种能实现空间一平移和一转动的两自由度并联机构。该机构由两条主动支链为P⊥R//R,两条辅助支链为P⊥R组成。对该并联机构进行了结构和位置分析,求出其运动学正反解的解释解。借助ADAMS软件进行动态仿真,检验了理论推导的正确性。采用串联式机械臂和并联机构结合的方式,不仅能完成中医推拿的五种手法,而且结构简单、位置分析求解容易,为机器人的控制提供理论依据。In the light of kinematics and dynamics characteristics of Chinese medical massage techniques—rolling method,pressing method,kneading method and fluttering method,output matrix and direction of force application for every Chinese medical massage technique are obtained.5 degree-of-freedom（DOF）is realized through series mechanical arm combined with parallel mechanism.In which one parallel mechanism of two degree of freedom（2-DOF）with 1 translation-1 rotation（1T-1R）is put forward with single-opened-chain（SOC）as a unit according to the systematic method for topological structure synthesis of parallel mechanism.The mechanism is composed of two platforms mutually connected by two P⊥R//R and P⊥R serial kinematics chains,where R and P stand for revolute,prismatic,respectively.Position analysis and structure analysis are made,thus positive solution and inverse solution is obtained.The simulation curve which verifies the validity of theoretical analysis is given by ADAMS.The mechanism not only fulfills the Chinese medical massage techniques,but also provides the theoretical basis for the robot control.

关 键 词：并联机构 单开链 正解 反解 仿真模拟 

分 类 号：TH112[机械工程—机械设计及理论]