并联机构的运动伪奇异分析  

Analysis of Movement Pseudo Singularity of a Parallel Mechanism

作　　者：许兆棠[1] 陈小岗[1] 张恒[2] 吴蒙蒙[1,3] 陈前亮[1] 刘远伟[1] 

机构地区：[1]淮阴工学院江苏省数字化制造技术重点实验室,江苏淮安223003 [2]淮阴工学院生命科学与化学工程学院,江苏淮安223003 [3]南通大学机械工程学院,江苏南通226019

出　　处：《机械传动》2014年第4期75-78,共4页Journal of Mechanical Transmission

基　　金：江苏省高校自然科学研究重大项目(12KJA460001);江苏省高校自然科学基金(12KJB460001);江苏省数字化制造技术重点建设实验室开放课题项目(HG-DML-1001)

摘　　要：为解决并联机构的动平台在绕动坐标系的第二根动轴的转角为0°或90°时是否奇异的问题,分析了并联机构的运动伪奇异。结合Stewart交叉杆并联机构,在并联机构的动平台绕动坐标系第二根动轴的转角为零的条件下,介绍了由z-y-z型欧拉角产生的并联机构的运动伪奇异,在此基础上,分别从绕动轴的转角和动轴重合方面,分析了运动伪奇异的原因及伪奇异的位置,提出产生伪奇异的原因是用绕三根动轴的转角描述动平台参数的微分,退化为用绕两根动轴的转角描述动平台参数的微分。12种欧拉角首末动轴重合的位置,是并联机构的运动伪奇异的位置。To solve the problem of whether or not singularity when moving platform rotating a- round second moving shaft of a moving coordinate system at 0 or 90 , the movement pseudo singularity of a parallel mechanism is analyzed. Combininging a Stewart cross--legged parallel mechanism, under the condition of moving platform rotating around second moving shaft of a moving coordinate system at 0 ,the movement pseudo singularity of a parallel mechanism produced by z--y--z Euler angle is intro- duced. From aspects of a rotation angle around a moving shaft and moving coincidence shaft, the rea- son and location of movement pseudo singularity are analyzed. It is presented that reason of movement pseudo singularity is that description of parameter differential of a moving platform degenerates from angles of rotating around three moving shafts to angles of rotating around two moving shafts. Coinci- dence location of first--end moving shaft of 12 kinds of Euler angle is location of movement pseudo sin- gularity of a parallel mechanism.

关 键 词：并联机构 运动伪奇异 欧拉角 逆雅克比矩阵 首末动轴 

分 类 号：TH112[机械工程—机械设计及理论]