基于旋量理论的3-UPU和3-PPRR并联机构的自由度分析  

The degree of freedom analysis of 3-PPRR and 3-UPU parallel mechanism using screw theory

作　　者：韩星月 HAN Xingyue(School of Science,Tianjin University of Technology and Education,Tianjin 300222,China)

机构地区：[1]天津职业技术师范大学理学院

出　　处：《高师理科学刊》2020年第1期9-15,共7页Journal of Science of Teachers＇College and University

基　　金：国家自然科学基金项目（11601391）;天津市自然科学基金项目（18JCQNJC69700）;天津市高等学校科技发展基金计划项目(JWK1611)

摘　　要：运用旋量理论对3-UPU和3-PPRR 2个并联机构进行机构自由度分析.通过建立全局坐标系确定每个分支的运动旋量系,利用运动旋量系和约束旋量系的对偶性计算出每个分支的约束旋量系,得到平台的约束旋量多重集.利用最大线性无关组得出平台运动旋量系,从而确定平台的运动.判断机构是否存在冗余约束,分别利用传统G-K准则以及修正的G-K准则验证所得结果的正确性.Uses the screw theory to analyze the degree of freedom of 3-UPU and 3-PPRR parallel mechanism.The global coordinate system is established to determine the motion-screw system of each branch,and the constraintscrew system of each branch is calculated by using the duality of the constraint-screw system and the motion-screw system,the constraint-screw multiple sets of the platform are obtained.The motion-scerw system of the platform is obtained by using the maximum linear independent group,so as to determine the motion of the platform.Judged whether the mechanism has redundant constraints,the traditional G-K criterion and the modified G-K criterion is used to verify the correctness of the results.

关 键 词：旋量 旋量系 并联机构 自由度 

分 类 号：O187.2[理学—数学] TH112[理学—基础数学]