新型完全各项同性平面并联机构的运动学分析  

Kinematics Analysis of a New Fully-Isotropic Planar Parallel Menipulator

作　　者：张彦斌[1] 王文胜[2] 

机构地区：[1]河南科技大学机电工程学院,河南洛阳471003 [2]河南科技大学土木工程学院,河南洛阳471003

出　　处：《机械传动》2014年第8期56-59,共4页Journal of Mechanical Transmission

基　　金：国家自然科学基金(50905055);河南省高校青年骨干教师资助项目(2010GGJS-079)

摘　　要：提出一种新型3自由度平面并联机构,该机构由三条不同的分支运动链将动平台和静平台连接而成。并通过运动副合并,得到另外一种新型平面并联机构。基于单开链单元理论分析机构动平台的运动输出特性,推导出机构的位置和速度的运动学方程。由于速度雅可比矩阵为3×3阶单位阵,故机构主动副的输入速度与动平台的输出速度间存在一对一的映射关系,即动平台的一个输出运动只需要一个主动副控制。同时,由于雅可比矩阵的条件数恒等于1,所以机构在整个工作空间范围内表现为完全各向同性。A new 3-DOF planar parallel manipulator which consists of a moving platform connected to a fixed base by three different kinematic-chain limbs is presented.Another novel planar parallel manipulator is obtained by combining two revolute joints into one from the original manipultor.The output motion characteristic of the moving platform is analyzed based on the units of singleopen-chain theory.The kinematics equations of position and velocity are kinematics are derived.The Jacobian matrix is a 3×3identical one,so there is exists one-to-one mapping relationship between the output velocity vector of the platform and the input velocity vector of the actuated joints.One output motion of the platform only need one actuated joint control.Furthermore,conditioning number of Jacobian is constantly equal to one and the manipulator shows fully-isotropic throughout its entire workspace.

关 键 词：平面并联机构 运动学分析 螺旋理论 单开链单元法 

分 类 号：TH112[机械工程—机械设计及理论]