一种含中心驱动五自由度并联机构运动学分析  

Kinematics Analysis of the 5-DOF Parallel Manipulator with One Center Driven Branch

作　　者：张灿果 宋占锋 倪笑宇 耿明超 ZHANG Can-guo;SONG Zhan-feng;NI Xiao-yu;GENG ming-chao(College of Mechanical Engineering,Hebei University of Architecture,Hebei Zhangjiakou 075024,China)

机构地区：[1]河北建筑工程学院机械工程学院,河北张家口075024

出　　处：《机械设计与制造》2024年第8期178-181,共4页Machinery Design & Manufacture

基　　金：河北省自然基金资助项目(E2018404044);河北省教育厅青年基金(QN2021051);河北省高等学校科学技术研究项目(ZD2019012)。

摘　　要：设计了一种含中心驱动五自由度并联机构,分析了该机构的自由度和结构特点。利用矢量法建立了含中心驱动五自由度并联机构中各驱动分支和动平台运动之间的映射关系,利用中心驱动分支中的约束力/约束矩,推导了该并联机构的Jacobean矩阵和Hessian矩阵。建立了含中心驱动五自由度并联机构的运动学模型。利用先进CAD软件验证了并联机构运动学模型的正确性。分析了含中心驱动五自由度并联机构定姿态工作空间,为该类并联机构的应用奠定了理论基础。A novel 5-DOF parallel manipulator with one center driven branch is proposed.The degree of freedom and structural characteristics of the mechanism are analyzed.The formulae for the kinematics relationship between the driving branches and the moving platform is deduced by vector method.Based on the arrangement of joints in the center driven branch,the constrained force/torques are determined,the Jacobean matrix and Hessian matrix of the parallel manipulator are derived.The kinematics model of the 5-DOF PM with central driving branch is established.The correctness of kinematics model of the mechanism is verified by advanced CAD software.The workspace of the PM is analyzed when the orientation of the moving platform is given.That provide the theoretical and technical foundations for its dynamics analysis and application.

关 键 词：并联机构 运动学 中心驱动 工作空间 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]