3-CU^并联机构运动和力传递性能分析  

Analysis on Movement and Force Transmission Property of 3-CU^Parallel Mechanism

作　　者：王亿 陈安军 

机构地区：[1]江南大学机械工程学院,江苏无锡214122

出　　处：《机械传动》2014年第1期78-81,共4页Journal of Mechanical Transmission

摘　　要：以空间三自由度平移3-CU^并联机器人机构为研究对象,基于速度雅克比矩阵,定义速度和力方向的可操作度,度量机构在给定位形条件下沿不同方位速度和力的传递性能;以雅克比矩阵条件数,度量机构在给定位形条件下速度和力传递的各向同性。研究表明,速度和力方向可操作度可直观度量机构沿不同方位的传速传力性能,同时可方便地确定最佳传速传力方位;传速性能最优的方位,传力性能最差,动平台沿垂直方位运动时传速性能优于传力性能,沿水平方位运动时传力性能优于传速性能;各向同性分析表明,当机构沿轴方位运动时,各向同性优于其他方位,改变定长支链的长度影响各项同性指标的变化,动平台外接圆半径变化对机构各项同性无影响。研究结论对3-CU^并联机器人运动规划具有明确的物理意义。Based on the Jacobian matrix, the velocity and force directional manipulability of three--DOF translational 3-CU parallel robot mechanism are defined to measure mechanical movement and force transmission property along different directions under the condition of given positions, and the condition numbers of Jacobian matrix are used to measure velocity and force transmissive isotropy. The result show that the velocity and force directional manipulability can measure the movement and force transmission property along different directions visually, and the best velocity and force transmissive direction can also be convenient determined The best direction of velocity transmission property tend to be the worst direction of force transmission property, and velocity transmission property is better than force transmission property when moving platform moves along the vertical direction. The analysis of isotropy show that when mechanism moves along z-axis, isotropy is better than any other directions, the length of legs has influence on the change of isotropy, yet the drcumradius of moving platform not. The research conclusion provide definite physical significance for motion planning of 3-CU parallel mechanism.

关 键 词：并联机构 可操作椭球 方向可操作度 条件数 各向同性 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]