并联机构工作空间与奇异位形综合研究  

Comprehensive research on working space and singularity of parallel mechanism

作　　者：史革盟[1] 张锋涛[1] 高秀兰[1] 郭旭侠[1] SHI Ge-meng ZHANG Feng-tao GAO Xiu-lan GUO Xu-xia(School of Mechanical Engineering, Baoji University of Arts and Sciences, Baoji 721016)

机构地区：[1]宝鸡文理学院机械工程学院,陕西宝鸡721016

出　　处：《机械设计》2016年第9期75-80,共6页Journal of Machine Design

基　　金：国家自然科学基金资助项目(11302003);宝鸡市科学研究计划资助项目(14GYGG-3);宝鸡文理学院重点资助项目(ZK16109)

摘　　要：用矢量分析和几何分析的方法建立了平面3自由度并联机构工作空间的几何形状与结构参数的解析关系。将并联机构的奇异位形分为关节空间奇异和操作空间奇异,根据机构速度关系矩阵的特征,找出了机构全部的奇异位形,给出各种奇异位形的几何意义,得到极其简明的奇异位形的解析条件。采用MATLAB实例仿真,得到各类奇异位形在工作空间的轨迹和分布特征,提出确定机构无奇异位形最大工作空间的方法。The analytical relationships between geometry and structure parameters of the planar 3-DOF parallel mechanism working space was established using the geometry and vector analysis method. The singularity of the parallel mechanism was divided into the joint space singular and operational space singular. All singularities in the mechanism were found out according to the characteristics of velocity relation matrix. The geometric significances of the various singularities were pointed out to obtain the extremely concise analytical conditions of singularity. The trajectory and distribution characteristics of all kinds of singularities in the working space were obtained using MATLAB simulations. The method of determining the mechanism maximum working space without singularity was proposed.

关 键 词：并联机构 奇异位形 工作空间 

分 类 号：TH112[机械工程—机械设计及理论]