Hexapteron机构的斜导轨构型的改进及其运动学分析  

Improvement of Oblique-Guide-Rail Configuration of Hexapteron Mechanism and Kinematic Analysis

作　　者：肖宏宇 唐晓腾 余尔标 XIAO Hongyu;TANG Xiaoteng;YU Erbiao(College of Mechanical Engineering and Antomation,Fuzhou University,Fuzhou,Fujian 350108,China;College of Physics and Electronic Information Engineering,Minjiang University,Fuzhou,Fujian 350108,China)

机构地区：[1]福州大学机械工程及自动化学院,福建福州350108 [2]闽江学院物理与电子信息工程学院,福建福州350108

出　　处：《闽江学院学报》2024年第5期8-18,共11页Journal of Minjiang University

基　　金：福州科技局项目(2021-SG-043);福建省高校产学研联合创新项目(2022H6011);福建省教育厅科技创新重点项目(2022G02017)。

摘　　要：针对Hexapteron机构的斜导轨构型的驱动结构进行了重新设计,得到了一种新型的机构,结构更为紧凑,便于机械结构设计及编程运动控制。基于旋量理论,推导了该机构的逆运动学方程,并分别在ADAMS和Matlab环境下进行了验证仿真。经过比对,证明了结果的正确性,可以为后续的速度分析、性能评价及其优化提供理论基础。此外,该方法可以推广到Hexapteron机构其他构型,具有一定的理论指导意义。In this paper,the drive structure of the oblique-guide-rail configuration of the Hexapteron mechanism is redesigned,and a new structure is obtained,which is more compact and convenient for mechanical design and motion control programming.Based on screw theory,the inverse kinematics equation of the mechanism is derived,and the simulation is carried out in ADAMS and Matlab respectively to verify the result.Comparison proves the correctness.The work can provide a theoretical basis for works such as speed analysis,performance evaluation and optimization analysis.In addition,the method can be generalized to other variants configurations of Hexapteron mechanism.

关 键 词：Hexapteron机构 旋量理论 运动学分析 仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]