摘要
提出了一种新型3T2R冗余驱动混联机构。首先,运用螺旋理论分析了该机构实现3T2R运动原理,计算出该机构的自由度,进行了输入选取与论证;然后,利用解析矢量法建立机构位置逆解方程;随后,基于位置逆解,结合机构的约束条件,运用数值搜索法对其工作空间进行研究,分析机构的性能优越性;最后,应用MATLAB对逆解方程进行求解并利用ADAMS对求解结果进行仿真验证,验证了逆解模型的正确性及机构的可实现性。
A novel 3T2 R redundantly actuated hybrid mechanism is proposed. First,the motion principle of realizing the three- dimensional translational and two- dimensional rotation motion of this mechanism are analyzed by using the screw theory. The DOF of this mechanism is calculated,and the driving joints are chosen and discussed. Then,the inverse position solution equation is established by using analytical method. Next,based on the inverse position solution and combining with the constraints condition of this mechanism,its workspace is studied by using the numerical search method,and performance superiority of the mechanism is analyzed. At last,the inverse position solution equation is solved by using MATLAB and the results simulation verification is carried out by using ADAMS,and the correctness of the inverse position solution model and the realizability of the mechanism are verified.
出处
《机械传动》
CSCD
北大核心
2016年第3期23-27,34,共6页
Journal of Mechanical Transmission
基金
国家自然科学基金(51275486)
关键词
冗余驱动
混联机构
旋量理论
位置逆解
工作空间
Redundantly actuated
Hybrid mechanism
Screw theory
Inverse position
solution Workspace
