3-SPS＋RRS＋PS机构运动学分析  

Kinematic analysis of 3-SPS+RRS+PS mechanism

作　　者：常福清[1] 张涛[2] 张大宇[2] 王玉镇 郭希娟[2,4] 

机构地区：[1]燕山大学建筑工程与力学学院,河北秦皇岛066004 [2]燕山大学河北省计算机虚拟技术与系统集成重点实验室,河北秦皇岛066004 [3]空军装备研究院航空所,北京100076 [4]燕山大学机器人研究中心.河北秦皇岛066004

出　　处：《机械设计》2016年第1期40-47,共8页Journal of Machine Design

基　　金：国家自然科学基金资助项目(51175446)

摘　　要：分析了组成直升机自动倾斜器等效机构的关键部分3-SPS+RRS+PS机构的运动学特性。通过分析并区别对待机构自由度的瞬时性与全周性,克服了位置反解中遇到的螺旋理论瞬时性的问题。采用直接求导法,计算了机构的速度、加速度反解。为了克服直接求导法计算过程繁杂的缺点,给出了一种快速数值计算Jacobian和Hession矩阵的算法,该算法只需要给出机构的位置反解方程,就能够通过计算机自动计算出Jacobian和Hession矩阵的值,从而节省了大量的人力。该方法不仅适用于理论分析,也适用于有快速分析需求的工程任务。The kinematic characteristic of 3-SPS＋RRS＋PS mechanism was analyzed, which was the pivotal part of the equiv- alent mechanism in helicopter automatic tilting device. This study overcame the instantaneity and full-cycle of DOF according to the discriminatory analysis of screw theory instantaneity. For this reason, in the analysis of the DOF of mechanism, the discrimi- nation between full-cycle DOF and instantaneous DOF were analysized too, which could overcome the instantaneous problem of screw theory in inverse displacement analysis. Finally, the velocity and acceleration inverse solution were calculated by direct derivation method. The algorithm of calculating Jacobian and Hession matrix was obtained in order to overcome the disadvantage of complicated calculation process in direct derivation method. This method could calculate Jacobian and Hessian matrix automat- ically 0nly needed the inverse displacement solution of mechanism. Therefore, a lot of manpower could be saved. The method can not only he applied to theoretical analysis, but also suitable for the engineering task which has rapid analysis demand.

关 键 词：自由度 位置反解 速度加速度 直接求导法 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]