摘要
提出了一种新型的五自由度混联机构,该机构由三自由度移动的完全解耦并联机构和二自由度转动的串联机构构成。为获得该混联机构的运动学模型及性能参数,描述了机构的组成模块,并计算了其自由度数目。基于几何法和D H(Denavit-Hartenberg)法,求解了混联机构末端位姿理论参数模型,利用ADAMS软件对其进行了运动仿真。基于ADMAS运动仿真结果,采用边界搜索法分析了混联机构的位置、姿态工作空间。结果表明,该五自由度混联机构末端姿态灵活、工作空间大且无奇异位形,具有良好的应用前景。
A new type of hybrid kinematics mechanism with five degrees-of-freedom (5-DOF) was presented. It was composed of a fully decoupled parallel mechanism with three moving degrees-of-freedom and a series mechanism with two rotational degrees-of-freedom. To get the kinematics model and performance parameters of the mechanism, its module was described and the number of degrees of freedom was calculated. The theoretical positions and orientations parametric model of its end-effector were solved on the basis of geometric method as well as Denavit-Hartenberg (D-H) method. Meanwhile, the motion simulation of the mechanism was carried out by ADAMS software. Eventually, the boundary of position-workspace and orientation-workspace was determined by boundary search method based on the motion simulation. The results show that the 5-DOF hybrid kinematics mechanism has favorable application foreground on account of better flexibility, larger workspace together with none singularity.
作者
丁泽华
董虎
王见
朱景原
曹毅
DING Zehua;DONG Hu;WANG Jian;ZHU Jingyuan;CAO Yi(School of Mechanical Engineering, Jiangnan University, Wuxi 214122, China;State Key Laboratory of Robotics and Systems, Harbin 150080, China;Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment and Technology, Wuxi 214122, China)
出处
《东华大学学报（自然科学版）》
CAS
北大核心
2019年第1期102-108,共7页
Journal of Donghua University(Natural Science)
关键词
混联机构
运动学
边界搜索法
工作空间
hybrid mechanisms
kinematics
boundary search method
workspace
