空间3自由度冗余驱动并联机构的运动学分析  

Kinematics Analysis of Spatial 3-DOF Parallel Manipulator with Redundant Actuator

作　　者：周结华[1] 彭侠夫[1] 仲训昱[1] 

机构地区：[1]厦门大学信息科学与技术学院,福建厦门361005

出　　处：《四川大学学报（工程科学版）》2012年第2期221-226,共6页Journal of Sichuan University (Engineering Science Edition)

基　　金：国家"985"计划资助项目(0000-X07204);福建省自然科学基金资助项目(2010J05141)

摘　　要：由n(n<6)条SPS主动支链和一条被动约束支链构成的并联机构结构简单而且承载能力更强,具有非常广泛的应用前景。以4-SPS/S结构的并联机构为研究对象,实现模拟船舶在海浪中的3自由度摇摆运动功能。运用螺旋理论分析4-SPS/S并联机构真实的自由运动特性。运用坐标旋转矩阵变换和矢量导数法,推导出并联机构位置逆解的解析表达式以及各主动支链和动平台的微分运动特性。运用杆长约束条件和Sylvester结式消元法,推导出该机构位置正解的解析解。仿真研究和实例验证结果表明,该机构具有4组位置正解,其中2组为实解,另外2组为虚解,验证了位置正解求解算法的正确性。The parallel manipulators with n6 spherical joint-prismatic joint-spherical joint（SPS） type active limbs and one passive constrained limb have attracted more attention and been used in many practical applications.The 4-SPS /S parallel manipulator was proposed and used to simulate ship swaying motion in the sea.Real mobility property of the 4-SPS /S parallel manipulator was analyzed by using screw theory.The inverse position kinematics model and the differential motion characteristics of the SPS active limbs and moving platform were established by coordinating rotation matrix transformation and vector derivative.The analytical solution of forward position kinematics was established by rod length constraint equations and Sylvester resultant elimination.The result of simulation and analysis showed that the parallel manipulator has four forward position solutions including two real solutions and two imaginary solutions,and the algorithm of forward position solution is correct.

关 键 词：并联机构 位置逆解 微分运动特性 位置正解 

分 类 号：TH112[机械工程—机械设计及理论]