一种面向低频隔振的两自由度球面并联机构  

A two-degree-of-freedom spherical parallel mechanism with low-frequency vibration isolation

作　　者：张晓伟[1] 段学超[1] 冷国俊[2] 保宏[1] 

机构地区：[1]西安电子科技大学电子装备结构设计教育部重点实验室,陕西西安710071 [2]中国电子科技集团公司第二十九研究所,四川成都610036

出　　处：《河北科技大学学报》2016年第1期13-19,共7页Journal of Hebei University of Science and Technology

基　　金：国家自然科学基金(51405362;51490660)

摘　　要：针对两转动自由度低频隔振的需求,基于球面并联机构理论提出了一种两转动自由度球面并联隔振装置。从机构学的角度对其进行了工作原理分析和自由度计算,并完成了隔振平台的虚拟样机设计。采用连杆参数的D-H表示法,以连杆圆弧张角为约束条件建立了机构的约束方程,实现了其运动学逆解,并基于数值方法给出了运动学正解的求解过程及正逆解算例。分析和仿真结果表明:所设计的两自由度球面并联机构可操控性强、运动学模型合理有效,能够满足隔振平台所需的低频隔振性能需求。Aiming at the requirements of the vibration isolation with two rotational degrees of freedom under specific conditions,a spherical 2-DOF parallel vibration isolation platform is proposed based on the theory of spherical parallel mechanism.From the view point of theory of mechanism,the operating principle is analyzed and the degree of freedom is calculated,and the virtual prototype design of vibration isolation platform is carried out.With D-H representation method of robot mechanism,the constraint equation is developed under the constraint conditions of the above link arc angle,and the inverse kinematics is realized.The kinematics positive solution process is given based on numerical method,and the solution examples of positive and inverse solution are given.Analysis and simulation results show that the 2-DOF spherical parallel mechanism proposed in this paper has the characteristics of good controllability,and the kinematic model is reasonable and effective,meeting the need of low-frequency vibration isolation performance.

关 键 词：机械原理与机构学 隔振平台 球面并联机构 雅可比矩阵 运动学 

分 类 号：TD421[矿业工程—矿山机电]