混合驱动平面2自由度七杆机构的奇异性分析  

Singularity Analysis of 2-DOF Planar Seven-Bar Hybrid Mechanisms

作　　者：方新国[1] 邹慧君[1] 梁庆华[1] 郭为忠[1] 

机构地区：[1]上海交通大学机械与动力工程学院,上海200030

出　　处：《上海交通大学学报》2003年第5期674-678,共5页Journal of Shanghai Jiaotong University

基　　金：国家自然科学基金资助项目 (5 9875 0 5 8)

摘　　要：基于机构输入输出的速度 Jacobian矩阵 ,提出了求解平面多环多自由度机构奇异位形的一般方法 .利用这种方法详细分析了用于混合驱动器的平面 2自由度七杆机构的 4类奇异位形 ,得出了平面 2自由度七杆机构的 5种奇异位形 ,并讨论了它们各自的特点 .提出了平面多环多自由度机构避免奇异位形出现的 3种方法 ;基于平面单环 N杆机构的可装配性 ,分析得出了避免这些奇异位形的几何条件 .Based on velocity Jacobian matrix relating the input speeds with the output speeds of the mechanism, a general method, which is used for solving the singularity of planar multi-loop multi-DOF mechanisms, was presented. Four kinds of singularity of 2-DOF planar seven-bar hybrid mechanisms were analyzed by this method. Five kinds of singular position were discovered, and their characteristics were discussed respectively. This article proposed three methods on how to avoid singular positions of planar multi-loop multi-DOF mechanisms. Based on the assemblability of planar single-loop N bar mechanisms, it analyzed and found the geometry conditions to avoid the singular positions of planar seven-bar mechanisms. In order to verify aforementioned conclusion, it gave a case in which the singular curve is plotted and simulated.

关 键 词：速度矩阵 七杆机构 可装配性 奇异性 

分 类 号：TH112.1[机械工程—机械设计及理论] TP241.2[自动化与计算机技术—检测技术与自动化装置]