一种2R2T并联机构的运动学及性能分析  

Kinematics and performance analysis of a 2R2T parallel mechanism

作　　者：温如凤[1] 方跃法[1] 陈亚琼[1] 

机构地区：[1]北京交通大学机械与电子控制工程学院,北京100044

出　　处：《北京交通大学学报》2016年第1期72-79,共8页JOURNAL OF BEIJING JIAOTONG UNIVERSITY

基　　金：国家自然科学基金资助项目(51175029)

摘　　要：研究了一种具有4条支链和2个运动平台的并联机构,其中2个运动平台通过1个转动副相连.利用位移群理论分析了机构的自由度,2个动平台都有2个转动和2个移动自由度.对机构进行了位置分析,得到了正解的封闭解.给出了机构的雅可比矩阵,分析了机构的奇异位形和刚度性能.所提出的机构在工业和医学领域具有良好的应用前景.In this paper,we study aparallel mechanism with four identical limbs and two moving platforms that are connected by a revolute joint.First,the displacement group theory is used to analyze the degrees of freedom of the mechanism,which has two moving platforms to perform two rotational and two translational motions（2R2T）.Second,closed-form solutions are presented for the forward kinematics of the proposed mechanism.Finally,the Jacobian matrix of the mechanism is given.The singularity and stiffness of the 2R2 Tparallel mechanism are analyzed.The mechanism can be applied well in industry and medical field.

关 键 词：并联机构 运动学 自由度 雅可比矩阵 性能分析 

分 类 号：TH112[机械工程—机械设计及理论]