摘要
介绍了一种由圆柱副、圆柱副和球面副构成的基于点、线间距离约束的新型解耦并联机构6-CCS,对结构和运动学正解进行了研究。通过对三个位置约束方程构造Dixon结式,去掉其中线性相关的三行三列,导出了一元64次输入输出方程,并根据位置的8个解与姿态解互相解耦的特点,总共有512个解。然后使用数值算例验证了其全部根。结合VC++6.0和OpenGL对其进行了三维建模和运动仿真,验证了这一新机构的可行性。
A new parallel mechanism 6--CCS which is composed of cylinder and spherical joints was described herein. A closed-form solution to the forward displacement analysis was presented. Dixon＇s resultant was used and the problem was reduced to a 64th degree polynomial equation in a single unknown, for the 8 position roots and the 64 orientation are unattached,512 different locations of the platform can be derived, numerical example confirms these theoretical results. Kinematics simulations were performed by using OpenGL in Visual C ＋＋ 6. 0, which gives a very effective validation of this new idea and the new parallel mechanism.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2007年第24期2903-2906,共4页
China Mechanical Engineering
基金
国家重点基础研究发展计划资助项目(2004CB318000)
国家自然科学基金资助项目(50475161)
教育部科学技术研究重点项目(104043)
高等学校博士学科点专项科研基金资助项目(20050013006)
关键词
广义Stewart平台
圆柱副
运动学正解
自由度分析
运动仿真
general Stewart platform
cylinder
forward kinematics analysis
degree of freedom analysis
kinematics simulation
