含4R回路并联机构奇异位置分析  

Singular Position Analysis of Parallel Mechanism with 4R Circuit

作　　者：朱伟[1] 耿林[1] 许兆棠 戴志明[1] 

机构地区：[1]常州大学机械工程学院,江苏常州213016 [2]江苏省先进制造技术重点实验室,江苏淮阴223003

出　　处：《机械传动》2016年第3期17-22,共6页Journal of Mechanical Transmission

基　　金：江苏省数字化制造技术重点实验室开放课(HJDML-1001);江苏省青蓝工程青年骨干教师资助项目

摘　　要：并联机构引进等效4R回路,能有效地改善机构的运动学和动力学性能,同时也会导致奇异位置的改变。运用螺旋理论分析4R机构的奇异位置;在3-PRS并联机构中引进4R回路构成新型3-P(4R)RS并联机构,建立机构力雅可比矩阵,采用Jacobian代数法得到机构可能存在的驱动奇异、平台奇异和支链奇异位置。在此基础上探讨杆长关系对机构奇异位置的影响,并通过Pro/E建立3-P(4R)RS并联机构三维模型,完成其运动仿真,其结果验证了引进4R回路可有效避免机构部分奇异位置的结论。Introducing the 4R equivalent circuit into parallel mechanism,the kinematics and dynamics property of the mechanism can be effectively improved. Meanwhile,the change of singular position in parallel mechanism may be caused. The singular position of 4R mechanism is analyzed by using screw theory. The 4R circuit is introduced into 3- PRS parallel mechanism to form a new 3- P（ 4R） RS parallel mechanism. The force Jacobian matrix is established,and the possible singular positions of actuator,platform and branched chain are obtained by using Jacobian algebra method. On this basis,the effect of rod length relationship on the singular position is investigated,and the 3- dimensional model and motion simulation of 3- P（4R） RS parallel mechanism are established by Pro / E. The result validates the conclusion that the introduction of 4R circuit can effectively avoid part of the singular position of the mechanism.

关 键 词：3-P(4R)RS并联机构 力雅可比 Jacobian代数法 奇异位置 

分 类 号：TH112[机械工程—机械设计及理论]