基于球面晶体姿态调节的4自由度并联机构工作空间分析  

Four-DOF parallel mechanism workspace analysis based on spherical crystal posture adjustment

作　　者：谢志江[1] 佘丹丹[1] 宋文军[1] 宋代平[1] 刘慎业[2] 

机构地区：[1]重庆大学机械传动国家重点实验室,重庆400030 [2]中国工程物理研究院激光聚变研究中心,四川绵阳621900

出　　处：《机械设计》2012年第11期46-48,82,共4页Journal of Machine Design

基　　金：国家自然科学基金资助项目(51105392);国家科技重大专项基金资助项目(JW20*26017)

摘　　要：在分析球面晶体姿态调节基础上,提出了一种4自由度并联支撑调节机构,实现晶体绕X,Y,Z三个坐标轴的转动和沿Z轴的移动,运用螺旋理论分析了机构的约束特性,计算出自由度数目,建立机构的位置逆解数学模型,求解机构的姿态空间,根据设计要求,绘制了机构末端执行器上几何中心的工作空间,并分析对称性,为优化结构奠定基础。Based on the spherical crystal posture adjustment, a 4-DOF parallel support for regulatory mechanism was proposed to achieve the rotation around the X, Y and Z axes and movement a- long the Z-axis of the crystal, the screw theory was used to analyze the binding characteristics and to calculate the number of degrees of freedom of the organization, inverse location of the mathematical model was built, the space agency＇s posture was solved. According to the design requirements, workspace of the geometric center of the institutional end of the implementation has been drawn, and the symmetry of the structure has been analyzed, having laid the foun- dation for the structural optimization.

关 键 词：4自由度 螺旋理论 位置反解 姿态空间 工作空间边界 

分 类 号：TH122[机械工程—机械设计及理论]