球面变胞仿生关节机构奇异位形研究  

Singularity analysis of spherical metamorphic mechanism for bionic joint

作　　者：王艳[1] 金国光[1,2] 畅博彦[1] 

机构地区：[1]天津工业大学机械工程学院,天津300387 [2]天津市现代机电装备技术重点实验室,天津300387

出　　处：《机械设计》2015年第4期52-55,共4页Journal of Machine Design

基　　金：国家自然科学基金资助项目(51275352;50675154);天津市应用基础及前沿技术研究计划资助项目(09JCYBJC04600)

摘　　要：研究了一种新型球面变胞仿生关节机构。首先,运用矢量代数法建立了机构运动学模型,通过对运动学方程求导,得到速度映射模型,进而得到机构雅可比矩阵;其次,根据雅可比矩阵的秩为零分析机构发生奇异的条件及类型;最后,引入局域条件性指标这一运动学性能评价指标,对机构进行奇异分析。分析结果表明,机构在给定工作空间内具有良好的可操作性与控制精度,但在工作空间内机构也有发生奇异的可能,因此在运动过程中尽量避免接近特殊位置以避免奇异的发生。A novel spherical metamorphic mechanism（SMM） used for bionic joint was focused on. Firstly, the kinematic equation was established by vector algebra method. The Jacobian matrix was obtained by getting the derivation of kinematic equation. Then, the factor and the type that singularity occurred were analyzed according to the Jacobian matrix. Finally, the local condition index was used to evaluate kinematic performance of SMM and analyze the singularity. The results show that the SMM is easy to operate and control accuracy in the given work-space. But the special motion position should be avoided in case the singularity occurs.

关 键 词：变胞机构 雅可比矩阵 奇异位形 灵巧度 

分 类 号：TH112[机械工程—机械设计及理论]