基于螺旋理论对4-UPU并联机构的自由度及运动分析  

Analysis of DOF and motion of 4-UPU parallel mechanism based on screw theory

作　　者：胡兴伟[1] 夏广岚[1] 殷宝麟[1] 于峰[1] 孙赵宁 庄腾飞[1] 

机构地区：[1]佳木斯大学机械工程学院,黑龙江佳木斯154007

出　　处：《现代机械》2015年第2期1-4,共4页Modern Machinery

基　　金：佳木斯大学研究生科技创新项目(LM2014-008);佳木斯大学科学技术总项目(LZ2014-003);佳木斯大学科研项目(L2011-016)

摘　　要：在并联机构的分析研究中,应用螺旋理论做空间机构的一些分析是较为简便的,它是诸种常用的数学方法中较好的一种,是以线性代数及几何数学为数学基础展开的。本文采用螺旋理论中的运动螺旋及力螺旋分别表示并联机构的自由度和约束,并利用其互逆定理,对少自由度的4-UPU并联机构进行约束和自由度分析,并求解出了该机构的自由度。最后通过实体模型的仿真运动分析,验证了该方法的准确性、可用性和通用性。In analytical investigation of parallel mechanism,it is convenient and effective to apply screw theory to spatial mechanism analysis. The theory which evolves on foundations of mathematics such as linear algebra and geometry math is a better one among common mathematical methods. This paper adopts the concepts of kinematic spiral and force spiral of screw theory to represent degree of freedom and constraint of the parallel mechanism respectively,and by using its reciprocal theorem,to analyze the degree of freedom（ DOF） and constraint of 4- UPU parallel mechanism with deficient DOF,and calculates the DOF of the mechanism. Finally,the accuracy,practicality and universality of this method are verified through motion simulation analysis.

关 键 词：4-UPU并联机构 螺旋理论 自由度分析 运动分析 

分 类 号：TH112[机械工程—机械设计及理论]