2-SPR/RCU并联机构的运动性能与灵巧度分析  

Analysis on Kinematic Performance and Dexterity of 2-SPR/RCU Asymmetric Parallel Mechanism

作　　者：王庆峰 李虹[1] 王新宇 路伟笑 马春生[1] WANG Qingfeng;LI Hong;WANG Xinyu;LU Weixiao;MA Chunsheng(School of Mechanical Engineering,North University of China,Taiyuan 030051,China)

机构地区：[1]中北大学机械工程学院,太原030051

出　　处：《机械科学与技术》2021年第8期1177-1185,共9页Mechanical Science and Technology for Aerospace Engineering

基　　金：山西省自然科学基金项目(201801D121183)。

摘　　要：对一种自由度为2R1T的新型非对称并联机构2-SPR/RCU进行性能分析,判断其能否应用于医疗康复领域。首先采用闭环矢量法算出该机构的运动学反解,并利用粒子群算法验证了结果的正确性;接着利用一阶影响系数法求出其速度关系式及速度雅可比矩阵,并应用ADAMS软件进行了运动性能仿真分析,其仿真出的位移、速度、加速度变化曲线光滑平稳;最后以局部条件数LCI为评价指标对灵巧度进行了分析,得到了该机构关于局部条件数LCI的灵巧度性能图谱。结果表明,该机构的运动性能与传递性能优良,在精度要求高、位置累计误差要求小的医疗康复领域具有一定的应用前景,具体为一种人体颈椎康复机构。The performance analysis of a new asymmetric parallel mechanism 2-SPR/RCU with 2R1T degrees of freedom is carried out to determine whether it can be applied to the field of medical rehabilitation.Firstly,the closed-loop vector method is used to calculate the kinematics inverse solution of the mechanism,and the particle swarm optimization algorithm is used to verify the correctness of the results.Then,the first-order influence coefficient method is used to obtain the velocity relation and the velocity Jacobian matrix,and the ADAMS software is used to perform the simulation analysis of kinematic performance,and the simulated displacement,velocity,acceleration change curves are smooth and stable.Finally,the dexterity is analyzed with the local condition number LCI as the evaluation index,and the dexterity performance map of the organization on the local condition number LCI is obtained.The results show that the asymmetric parallel mechanism has excellent motion performance and transmission performance,and has certain application prospects in the field of medical rehabilitation with high accuracy requirements and small cumulative position errors,and the specific application is a human cervical vertebra rehabilitation mechanism.

关 键 词：运动学反解 粒子群算法 速度雅可比矩阵 灵巧度 

分 类 号：TH112[机械工程—机械设计及理论]