空间4-SPS/CU并联机构运动学分析  

Kinematics Analysis of Spatial 4-SPS/CU Parallel Mechanism

作　　者：王庚祥[1] 原大宁[1] 刘宏昭[1] 吴现卫[1] 

机构地区：[1]西安理工大学机械与精密仪器工程学院,西安710048

出　　处：《农业机械学报》2012年第3期207-212,199,共7页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金资助项目(50575180);陕西高校省级重点实验室科研项目(2010JS080);陕西省重点学科建设专项资金资助项目

摘　　要：提出了一种能实现空间三维转动和沿Z轴移动的机构模型——空间4-SPS/CU并联机器人机构模型,其中SPS支链为驱动支链,CU为恰约束从动支链。采用螺旋理论分析了4-SPS/CU并联机构实现空间三转动一移动的机构学原理,计算了自由度,给出了位置正解和反解的方法,导出了Jacobian矩阵,分析了速度、加速度性能、奇异位形与工作空间,为该并联机构的实际应用提供了理论依据。Spatial parallel mechanism of a novel 4 - SPS/CU that can perform three-dimensional rotations and translation about Z axis was presented. The parallel mechanism of 4- SPS/CU, with SPS-limp regarded as the driver and CU-limp regarded as the driven, was synthesized. The principles that the mechanism could perform the above motions were analyzed based on the screw theory, and the degree of freedom of the mechanism was calculated. The forward and reverse solutions of position analysis were presented, then the Jacobian matrix of the mechanism was derived and its velocity, acceleration performance, singular configuration and workspace were analyzed.

关 键 词：并联机构 运动学 奇异位形 工作空间 

分 类 号：TH112[机械工程—机械设计及理论]