空间3自由度并联机构运动螺旋运动分析  

Active control of kinematic screw of planar 3-DOF parallel mechanism

作　　者：王丽[1,2] 王益轩[1] Wang Li;Wang Yixuan(Xi’an Polytechnic University,Shannxi Xi’an 710048;Shaanxi Polytechnic Institute,Shannxi Xianyang 712000)

机构地区：[1]西安工程大学,陕西西安710048 [2]陕西工业职业技术学院,陕西咸阳712000

出　　处：《汽车实用技术》2018年第5期76-79,共4页Automobile Applied Technology

摘　　要：将机构看成是由一系列构件用运动副连接起来的运动链,相邻构件的相对运动可以用一个运动螺旋来表示,运动链的末端构件的运动就是将它连接到机架的这些构件运动螺旋的线性组合,作为并联机构末端构件的动平台运动螺旋应该是分支所有运动螺旋的线性组合,相应的组合系数代表了运动副的相对速度,由此就建立了机构各构件之间的运动速度关系方程。构件运动螺旋的反螺旋,代表了构件受到的约束反力,利用反螺旋的性质,导出了各运动副与主动关节的速度关系,以及运动规划时由动平台运动速度反求关节速度的解析表达式。The mechanism as a kinematic chain consisting of a series of components with the pair of connected,the relative motion of adjacent components can be used to represent a spiral motion,the motion of the end link is connected to the linear combination of these components in spiral motion frame,as a parallel mechanism end member moving platform should the spiral is a linear combination of all branches in spiral motion,the corresponding combination coefficients represent the relative speed of motion,thus established the velocity equation between each member of the mechanism.The anti spiral spiral motion component,on behalf of the counter force by using the constraint component,properties of anti spiral,the relationship between the pair with the active joint velocity is derived,and the analytical expression of the motion planning of the moving platform speed reverse joint velocity.

关 键 词：并联机构 运动螺旋 反螺旋 速度关系方程 

分 类 号：TH112[机械工程—机械设计及理论]