摘要
研究了一种6自由度可移动冗余并联机构的奇异性与静力学性能及其定姿态实时优化设计。建立该并联机构的静力学雅可比矩阵,分析了该并联机构的奇异性、静力学性能指标。调节并联机构定平台腿部位置,使并联机构的静力学传递性能得到提高。绘制了基于雅可比矩阵的性能图谱,直观地观察并联机构在不同位置的静力学力和力矩的传递性能。通过分析可知冗余并联机构具有可以消除奇异的优点,同时通过调节腿部位置也大大提高了并联机构的静力学传递性能。
The singularity and statics performance of a 6-DOF mobile redundant parallel mechanism and its real-time optimization design are studied.The statics Jacobian matrix of this parallel mechanism is established,and the singularity and statics performance are analyzed.The statics transfer performance of parallel mechanism is improved by adjusting the leg position of the parallel mechanism.The performance spectrum based on the Jacobian matrix is drawn,the transfer performance of the statics force and moment of the parallel mechanism in different positions is observed intuitively.By above analysis shows that the redundant parallel mechanism can eliminate the singularity,while adjusting the leg position also greatly improves the static transfer performance of parallel mechanism.
作者
唐可
万小金
鲁凯
Tang Ke;Wan Xiaojin;Lu Kai(Hubei Key Laboratory of Advanced Technology for Automotive Components,Wuhan University of Technology,Wuhan 430070,China)
出处
《机械传动》
北大核心
2019年第1期44-49,共6页
Journal of Mechanical Transmission
基金
国家自然科学基金(51575417)
关键词
冗余并联机构
雅可比矩阵
奇异性
静力学性能
Redundant parallel mechanism
Jacobian matrix Singularity
Statics performance
