偏置式Delta并联机构的运动学分析  

Kinematics of Delta Parallel Mechanism with Offsets

作　　者：毕树生[1] 宗光华[1] 

机构地区：[1]北京航空航天大学机械工程及自动化学院,北京100083

出　　处：《航空学报》2003年第1期84-89,共6页Acta Aeronautica et Astronautica Sinica

基　　金：国家自然科学基金资助项目 (5 9975 0 0 2 )

摘　　要：具有 3个平移自由度的Delta并联机构因所有运动副均采用转动铰链而愈来愈引起研究者的重视。偏置量的存在虽降低了加工、制造、装配的难度 ,但其运动学分析的难度大大增加。本文利用消元法对偏置式Delta并联机构的正逆运动学进行了深入分析 ,求出了所有数值解。并采用几何图解法验证了位置正逆解的正确性。在运动学分析过程中引入了矢量分析 ,使得消元法求解过程十分简便。通过偏置式Delta并联机构的运动学分析可以证明 。Delta parallel mechanism has attracted more attention since it has 3 translational degrees of freedom and employs only revolute joints. The existence of offsets has made it easy to manufacture at low cost. However, it increased the difficulty of kinematic analysis. A closed form solution of both forward and reverse kinematics for the 3 DOF Delta parallel mechanism with offsets is developed by applying the dialytic method of elimination in this study. A geometric analysis method is also applied to confirm the results. It is shown geometrically that there are 14 real solutions to the forward kinematics problem on condition that all legs are symmetrical and the links length of each leg is the same. Application of the vector operation simplified the course of kinematic analysis. Finally, some inaccurate points of view are also indicated in this paper.

关 键 词：运动学分析 并联机构 消元法 几何图解法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]