2P3RR并联机构灵巧性分析  

Dexterity Analysis of 2P3RR Parallel Mechanism

作　　者：韩旭炤 杨新刚[2] 张小粉[1] HAN Xuzhao;YANG Xingang;ZHANG Xiaofen(Institute of Electrical and Mechanical,Xianyang Vocational Technical College,Xianyang 712000,China;College of Mechanical&Precision Instrument Engineering,Xi'an University of Technology,Xi'an 710048,China)

机构地区：[1]咸阳职业技术学院机电学院,陕西咸阳712000 [2]西安理工大学机械与精密仪器工程学院,陕西西安710048

出　　处：《机械制造与自动化》2025年第1期53-57,共5页Machine Building & Automation

基　　金：陕西省自然科学基础研究计划资助项目(2019JM-209);咸阳市创新能力服务支撑计划科技领军人才研究项目(L2022CXNLRC011);博士科研基金及优化设计项目(2021BK06)。

摘　　要：结合一种五坐标混联运动平台的开发,对其所采用的2P3RR型2自由度平面运动并联机构部分进行相关研究。给出该并联机构的运动学位置正解和逆解公式,推导并求解该并联机构的雅可比矩阵,结合机构灵巧性评价指标,通过实例给出各个主要结构参数在不同的变化区间上的条件数、灵巧性指标以及可操作度等运动学性能的变化曲线,并结合全域平均值作为机构灵巧度评价指标的思路,对并联机构进行灵巧性分析,可为机构主要结构参数的确定提供参考和依据。The paper studies the 2P3RR type two degree of freedom planar motion parallel mechanism by combinng with the development of a five coordinate hybrid worktable.The kinematics position forward solution and inverse solution formulas of the parallel mechanism are given,and the Jacobian matrix of the parallel mechanism is derived.Combined with the dexterity evaluation index of the mechanism,the condition number,dexterity index,operability and other kinematics performance change curves of each main structural parameter in different change intervals are given through examples,and the idea of using the global average value as the dexterity evaluation index of the mechanism is proposed.The dexterity analysis of parallel mechanism provides reference and basis for determining the main structural parameters of the mechanism.

关 键 词：并联机构 运动学 雅可比矩阵 灵巧性分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]