摘要
设计了一种新型含复合球副4-dof并联机构,求解了该机构的自由度。根据机构的结构特点,基于矢量法分析了该并联机构中各构件的运动。针对少自由度并联机构部分驱动分支中存在的约束力/矩,利用观察法判断这种并联机构中存在的约束力/矩。基于约束力/矩建立了此类机构的Jacobean矩阵,并推导了机构的Hessian矩阵,建立了含复合球副4-dof自由度并联机构的运动学模型。利用先进CAD软件对机构的运动学模型进行了验证。为含复合球副少自由度并联机构动力学分析和刚度分析奠定了基础。
A novel 4-dof parallel manipulator with compound spherical joints is introduced and its DOF and characteristics are analyzed. According to the structural characteristics of the PM,The motion of each components of the parallel mechanism is analyzed by the vector method. Due to the different structure constraints,the constrained forces/torques appear in thesub chains of the limited-dof PMs.Based on the arrangement of joints in the sub chains,the constrained force/torques are determined. A novel method for establishing Jacobian for the 4-dof PM is proposed based on the characteristic of constrained force/torques,and then the Hessian matrix of the class PMs is deduced. The kinematics model of the limited-dof PMs is built.The kinematics model of the PMs is verified based on Advanced CAD software.That provide the theoretical and technical foundations for its dynamics analysis and stiffness analysis.
作者
张灿果
耿明超
路懿
ZHANG Can-guo;GENG Ming-chao;LU Yi(College of Mechanical Engineering,Hebei University of architecture,Hebei Zhangjiakou075024,China;College of Mechanical Engineering,Yanshan University,Hebei Qinhuangdao066004,China)
出处
《机械设计与制造》
北大核心
2020年第8期292-295,共4页
Machinery Design & Manufacture
基金
河北省自然基金资助项目:(E2018404044)
河北省教育厅青年拔尖人才计划(BJ2016017)
河北建筑工程学院博士基金(B-201603)。
关键词
并联机构
运动学
复合球副
雅可比矩阵
Parallel Manipulator
Kinematics
Compound Spherical Joint
Jacobian Matrix
