一种柔顺并联自适应机构的工作特性分析  

A Novel Adaptive Flexible Parallel Mechanism and its Operating Characteristics Analysis

作　　者：汪源[1] 朱伟[1] 沈惠平[1] 

机构地区：[1]常州大学机械工程学院,常州213016

出　　处：《机械设计与研究》2013年第4期25-29,共5页Machine Design And Research

基　　金：国家自然科学基金资助项目(51075045);常州市科技支撑计划(工业)(CE20110080);常州市应用基础研究计划资助项目(CJ20120008)

摘　　要：基于柔顺并联机构的组成原理,设计构造了一种简易实用的柔顺并联自适应机构,通过该机构的伪刚体模型,推导出机构的活动自由度、耦合度以及逆向解析解,仿真分析了执行工作面在定位置下各弹簧长度变化规律和自适应运动条件下的可达工作空间,同时建立了机构的虚拟样机模型。本文的研究为柔顺并联自适应机构的工业应用提供了理论参考。A new adaptive flexible parallel mechanism is proposed and designed according to the structural theory of flexible parallel mechanism.First,the structural characteristics of the mechanism is introduced based on the pseudorigid-body model,including the degree of freedom,the degree of coupling and the negative solutions.Then,the simulation of spring length variation rule at given position and the working spaces of the moving platform through the adaptive ability are analysed,and a virtual prototype is also set up.Research results of this article provides a theoretical reference for industrial application of this adaptive flexible parallel mechanism.

关 键 词：柔顺并联机构 自适应 伪刚体 工作空间 

分 类 号：TH112[机械工程—机械设计及理论]