新型四自由度并联机构工作空间特性分析  

Analysis of workspace for a novel 4-dof parallel mechanism

作　　者：李永刚[1] 姜子强[1] 

机构地区：[1]天津职业技术师范大学机械工程学院,天津300222

出　　处：《天津职业技术师范大学学报》2013年第4期1-6,共6页Journal of Tianjin University of Technology and Education

基　　金：国家自然基金资助项目(51005164);天津市自然基金资助项目(13JCQNJC04500);天津职业技术师范大学预研项目(KJY12-19)

摘　　要：在建立新型四自由度机构2RRS-2RUS逆运动学模型的基础上,运用单开链法和支链子空间形成的包络面法求解确立该机构的可达位置工作空间和姿态工作空间,并利用雅克比矩阵的代数特征定义约束条件,导出机构奇异位形曲面的方程,据此求解出特定参数下该机构的奇异位形的边界曲线,确定系统在特定参数下出现奇异位形的可能性。Based on the inverse kinematics model of four degree of freedom 2RRS-2RUS,by using the envelope method single opened chain and a chain of space for the establishment of the mechanism of the position workspace and orientation workspace, the reachable workspace is determined based on the method of single-opened limb and subspace of the limb. Furthermore, the algebraic feature of the Jacobian matrix is used to define the constraint condition, based on which the boundary cure can be solved when the parameters are provided. Then, the singular configurations can also be identified for the given parameters.

关 键 词：并联机构 逆运动学 可达工作空间 奇异位形 

分 类 号：TH112[机械工程—机械设计及理论]