摘要
针对传统的串联和并联机构构建的一种新型6自由度PPP-S(P)[T]-PPP混联立方机构,通过利用空间解析几何方法对机构的运动学正解进行了分析,得到其形式简单的唯一确定解,同时也对其位置反解进行了研究,发现其位置反解也具有唯一确定性。通过利用仿真软件得到机构模拟加工圆形轨迹及各输入运动滑块的空间位移、速度、加速度曲线,结果与数学方法计算的结果完全一致,同时各输入运动参数之间具有良好的解耦特性,给机构运动学控制提供了方便。基于该机构可望开发出性能优越的实用机床等设备,对机构进行运动学理论研究,为该机构的实际开发运用起到很好的参考作用。
A new type of hybrid cubic manipulator PPP-S（P） [T ]-PPP with six degree of freedom was built based on traditional serial manipulator and parallel manipulator. The kinematics forward solution of the mechanism was analyzed using the space analytic geometry method to obtain the only solution of simple form. Meanwhile,the inverse position solution was analyzed and the it was found that the inverse position solution was with the only certainty. The processing circular trajectory of the mechanism was obtained using simulation software,as well as the spatial displacement,velocity and acceleration curves of each input motion slider. The result was completely same as the mathematical calculated result. Each input kinematics parameter decoupled very well,which made the control of the kinematics mechanism simply. The practical machine tool with excellent performance could be developed based on this mechanism. The kinematics theory was analyzed on this mechanism to provide the references for the practical development of this mechanism.
出处
《机械设计》
CSCD
北大核心
2016年第5期91-96,共6页
Journal of Machine Design
基金
中央高校基本科研业务费资助项目(3142015023)
河北省高等学校科学技术研究资助项目(Z2015072)
国家自然科学基金资助项目(50975024)
关键词
辅助关节
解析几何
正解
反解
仿真
auxiliary joint
analytical geometry
forward solution
inverse solution
simulation
