一种6DOF串并联机构性能指标分析  

Performance Index Analysis of A 6 DOF Serial And Parallel Mechanism

作　　者：虞启凯[1,2] 游有鹏[1] 韩江义[3] 

机构地区：[1]南京航空航天大学江苏省精密与微细制造技术重点实验室,江苏南京210016 [2]南京化工职业技术学院机械系,江苏南京210048 [3]江苏大学汽车与交通工程学院,江苏镇江212013

出　　处：《机械传动》2015年第6期159-165,共7页Journal of Mechanical Transmission

基　　金：国家自然科学基金(50975144)

摘　　要：建立了一种6DOF串并联机构的雅克比矩阵,该机构底部是基于Delta机构、上面是球面2自由度五杆机构和一个独立旋转复合结构,对该机构3种灵巧度指标进行了分析,又定义了综合灵巧度指标,针对机构不同应用要求可以对3种灵巧度的指标取不同权值,并分析了其在工作空间内的变化,并用Matlab进行了仿真,研究结果可应用于该机机构的优化尺度综合和轨迹规划。The Jacobian matrix of a 6 DOF serial and parallel mechanism is established. At the bottom of mechanism is based on Delta mechanism, the top of mechanism is a spherical 2 DOF five bars and a independent 1 DOF rotating composite mechanism. The three dexterity index is analyzed, and the comprehensive dexteri- ty index is defined. According to the requirements of different application can be different weights in the mecha- nism of three kinds of dexterity index, and the variation in its working space is analyzed, and it is simulated with MATLAB, the results can be applied to the machine mechanism optimization synthesis and trajectory planning.

关 键 词：并联机构 雅克比矩阵 性能指标 

分 类 号：TH112[机械工程—机械设计及理论]