一种复合驱动并联机构的设计与运动学分析  

Design and kinematics analysis of double⁃drive parallel manipulator

作　　者：吴孟丽 吕东洋 林玉飞 王旭浩 陈莫 WU Mengli;LYU Dongyang;LIN Yufei;WANG Xuhao;CHEN Mo(College of Aerospace Engineering,Civil Aviation University of China,Tianjin 300300)

机构地区：[1]中国民航大学航空工程学院,天津300300

出　　处：《机械设计》2024年第5期121-130,共10页Journal of Machine Design

基　　金：国家自然科学基金民航联合研究基金资助项目(U1833106);中央高校基本科研业务费(3122020030)。

摘　　要：提出了一种新型的5自由度复合驱动并联机构,并对其进行了运动学分析。首先,根据复合驱动并联机构的构型特点,开展了伴随运动分析,推导得到了位置逆解计算公式;其次,通过分析动平台上一组点的线速度分量与驱动速度间的映射,推导出5×5齐次量纲的雅可比矩阵;采用离散法计算机构的可达工作空间,根据灵活度指标,即条件数的倒数在可达工作空间的分布情况,确定了许用工作空间位置;然后,通过分析最大压力角在机构许用工作空间中的分布情况和驱动力与机构末端受力之间的映射关系,完成了并联机构的奇异性分析;最后,基于MATLAB和ADAMS软件进行了运动学仿真验证。所述工作为下一代样机的优化设计提供了理论基础。In this article,a new 5-DoF double⁃drive parallel manipulator is proposed and the kinematics analysis is carried out.Firstly,according to the configuration characteristics of the double⁃drive parallel mechanism,the adjoint motion analysis is carried out and the inverse position solution is calculated.Secondly,efforts are made to explore the mapping between the linear velocity component and the driving velocity of a group of points on the moving platform,and the 5×5 homogeneous dimensional Ja⁃cobian matrix is worked out.The mechanism’s reachable workspace is calculated by means of the discrete method.Based on the flexibility index(i.e.the distribution of the condition number’s reciprocal in the reachable workspace),the allowable workspace position is finally determined.Thirdly,by analyzing both the distribution of the maximum pressure angle in allowable workspace and the mapping between the driving force and the force exerted on the mechanism end,the parallel manipulator is subject to the singularity analysis.Finally,the MATLAB and ADAMS software is used for the kinematics simulation.This study provides theo⁃retical basis for the optimal design of prototypes for future generations.

关 键 词：复合驱动 并联机构 运动学分析 奇异性分析 

分 类 号：TH112[机械工程—机械设计及理论]