摘要
以含中间支链的3自由度3-PUS-UP并联机构为研究对象,充分考虑驱动支链、串联约束支链及末端平台伴随运动的影响,利用封闭矢量法求解位置逆解,建立并联驱动部分的雅可比矩阵;采用D-H法建立中间UP串联约束支链的雅可比矩阵。结合驱动方程和约束方程的关系,构建了3-PUS-UP并联机构完整的雅可比矩阵,建立该机构的运动学模型,通过仿真验证了雅可比矩阵的正确性;引入运动灵巧性和机构刚度性能指标,并绘制运动灵巧性和机构刚度在工作空间中的分布图谱,研究机构的运动灵巧性和机构刚度在整个工作空间的分布情况,建立了该机构基于运动学灵巧性的最优工作区域。研究表明,该3-PUS-UP并联机构具有良好的运动灵巧性与刚度性能。
Three degrees of freedom parallel manipulator 3-PUS-UP with a properly constrained passive limb was taken as the research objective. Inverse kinematics solution equations were formulated with closed vector method,and a Jacobian matrix of parallel driving part was obtained considering the influences of driving chains,constraint chain and parasitic motion of moving platform. Further,a Jacobian matrix of UP limb of serial part was acquired by adopting the D-H method. Combining the relation between the driving equations with constraint equations,a complete Jacobian matrix of the3-PUS-UP parallel manipulator was constructed and verified by simulation analysis on the basis of the previous kinematical model. Simultaneously,kinematic dexterity and stiffness were introduced to evaluate the kinematic performance,and distribution atlas of the kinematic dexterity and stiffness in the workspace were drawn and researched. The optimum regions of the kinematic dexterity in the reachable workspace were defined and calculated. The research results show that this 3-PUS-UP parallel manipulator has good kinematic dexterity and stiffness performance.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2014年第12期348-354,共7页
Transactions of the Chinese Society for Agricultural Machinery
基金
国家自然科学基金资助项目(51175143)
关键词
并联机构
雅可比矩阵
D-H法
运动灵巧性
刚度
Parallel manipulator
Jacobian matrix
D-H method
Kinematic dexterity
Stiffness
