2-RPU/SPR并联机构位置正解及位置多解分析  

Forward Kinematics Analysis of the 2-RPU/SPR Parallel Mechanism and the Multiple Sets of Real Solutions

作　　者：王南[1] 周莎莎[1] 许云斗 赵永生[2] 

机构地区：[1]河北工程大学机械工程学院,河北邯郸056038 [2]燕山大学机械工程学院,河北秦皇岛066004

出　　处：《机械设计与制造》2015年第2期52-54,共3页Machinery Design & Manufacture

摘　　要：提出一种两转一移(2R1T)三自由度并联机构2-RPU/SPR,该机构具有两条连续转轴,则可采用旋转变换公式运算,由动平台绕两条连续转动轴线转动的角度得到了动平台的位姿,然后根据机构的杆长约束条件,求解得到分支杆杆长与机构动平台位姿之间的关系表达式,运用位置反解逆思想求解位置正解,则可以求出位置正解解析式,并采用Adams仿真软件对其进行了仿真验证。基于典型6-SPS机构和本论文提出的机构,运用Matlab软件数值求解出多组实数解,再采用Adams验证正解多解原因,不同样条曲线驱动使杆长达到一致,造成动平台位姿不同,得出机构位置正解多解的原因。机构位置分析对机构的运动学标定和轨迹规划有着重要的意义。It presents a novel 2-RPU/SPR 2RIT parallel mechanism, which has one translational degree of freedom （DOF） and two rotational DOFs. The 2-RPU/SPR mechanism has two rotational continuous axes. Using rotating transform formula, the rotational angle that the two continuous rotational axes of the moving platform take, receives the position of the moving platform. According to the length constraint conditions of the parallel mechanism, solve length of the rod, which is related with the position of moving platform The dynamics model is established on the basis of the principle of virtual work, the simulation of mechanism dynamics is implemented by using Adams software. Based on the 6-SPS parallel mechanism, the multiple sets of real solutions are worked out by using Matlab software and Adams software. The different spline curves make the six lengths achieve the same pose of the moving platform, the reason that leads to multiplicity of forward solutions is obtained. The parallel mechanism has the characteristics of the kinematics analysis, the parameter is very convenient, and the parallel mechanism has good prospect.

关 键 词：两转一移并联机构 连续转轴 旋转变换公式 位置正解 

分 类 号：TH16[机械工程—机械制造及自动化] TG156[金属学及工艺—热处理]