可用于多连杆悬架的并联机构运动学分析  

Kinematic Analysis of Parallel Mechanism for Multi-link Suspension

作　　者：毛江 朱小飞 李立成 Mao Jiang;Zhu Xiaofei;Li Licheng(College of Electrical Engineering and Intelligent Manufacturing,Chongqing Metropolitan College of Science and Technology,Chongqing 402167,China)

机构地区：[1]重庆城市科技学院电气工程与智能制造学院,重庆402167

出　　处：《机械传动》2022年第9期140-145,158,共7页Journal of Mechanical Transmission

基　　金：重庆市教育委员会科学技术研究项目(KJQN202102504);重庆城市科技学院2021年校级科研项目(XKY202128);重庆城市科技学院2020年度校级一流专业建设项目(机械设计制造及其自动化)。

摘　　要：并联机构具有刚度大、响应快和精度高等优点,适用于悬架领域。提出了一种用于汽车多连杆悬架的新型并联机构。建立机构运动学模型,结合螺旋理论,通过位姿参数分析机构空间运动特点,得到表征运动的螺旋量近似为偶量;结合汽车悬架运动学概念,利用齐次变换矩阵给出车轮定位参数,运用螺旋理论提出了悬架瞬时运动学分析方法。Parallel mechanism has the advantages of large stiffness,fast response and high precision,which is suitable for suspension field. A new type of parallel mechanism for automobile multi-link suspensionis proposed,the kinematic model of the mechanism is established,combined with the screw theory,the spa-tial motion characteristics of the mechanism are analyzed through the pose parameters,and the screw amountrepresenting the motion is approximately even. Combined with the kinematics concept of the automobile sus-pension,the wheel positioning parameters are given using the homogeneous transformation matrix. The instan-taneous kinematic analysis method of the suspension is proposed using the screw theory.

关 键 词：并联机构 多连杆悬架 位姿参数 运动学 

分 类 号：TH112[机械工程—机械设计及理论]