摘要
提出一种求解并联机构无奇异位形工作空间的方法。通过分析3-RPS并联机构在奇异位形时动平台的微分运动与结构约束及关节约束的关系,得到机构奇异位形判别方程和奇异位形曲面方程。探索了工作空间边界,综合分析了机构奇异位形与工作空间的关系。合理选择机构结构参数和关节变化范围,得到了无奇异位形的工作空间。
A solution to non-singularity workspace of the parallel mechanism is presented. The relation of the differential motion and the restrictions of configuration and joint was analyzed for a singular 3 - RPS parallel mechanism. The distinguish equation and curve surface equation were gained for the mechanism. The boundary of workspace was explored and the relation of singular configuration and workspace was analyzed synthetically. Configuration parameter and scope of joint variety＇were selected rationally in order to obtain workspace of non-singular configuration.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2007年第5期143-146,共4页
Transactions of the Chinese Society for Agricultural Machinery
基金
陕西省教育厅科学研究项目(项目编号:05JK-138)
关键词
并联机构
微分运动
奇异位形曲面
工作空间
Parallel mechanism, Differential motion, Surface of ,singular configuration, Workspace
