摘要
为了改善传统非冗余3-RRR球面并联机构工作空间不足、工作空间内易产生奇异和干涉,以及性能不足的问题,笔者设计了具有运动冗余球面并联机构。根据闭环矢量法建立了机构位置逆解模型,推导出机构雅可比矩阵并进行奇异分析;采用数值搜索法分析该机构干涉区域和可达空间;根据虚功原理方法建立该机构动力学模型,得到ADAMS动力学仿真与驱动力矩理论分析结果仅相差0.4%;基于动力学模型进行驱动力矩分布优化,优化结果表明对于一般动平台轨迹,该机构所需平均驱动力矩相比于传统非冗余3-RRR球面并联机构小25.80%;最后进行样机搭建和运动学实验。研究结果表明该机构干涉空间和奇异位形相对于传统3-RRR球面并联机构显著减少,该机构在应用中更有优势。
In order to improve the problems of insufficient working space,singularity,interference and insufficient performance of the traditional non-redundancy 3-RRR spherical parallel mechanism,a spherical parallel mechanism with motion redundancy was designed.According to the closed-loop vector method,the inverse solution model of the position of the mechanism was established,the Jacobian matrix was derived and the singular analysis was carried out,the numerical search method was used to analyze the interference area and reachable space of the mechanism,and the dynamic model of the mechanism was established according to the virtual work principle method,and the difference between the ADAMS dynamic simulation and the theoretical analysis of the driving force was only 0.4%.The driving force distribution optimization analysis was carried out based on the dynamic model,and the optimization results show that for the general moving platform trajectory,the average driving force required by this mechanism was 25.80%smaller than that of the traditional non-redundant 3-RRR spherical parallel mechanism.Finally,the prototype design and kinematic experiments were carried out.The results show that the interference space and singular shape of the mechanism are significantly reduced compared with the traditional 3-RRR spherical parallel mechanism,so the mechanism has more advantages in the application.
作者
蔡宇龙
叶伟
CAI Yulong;YE Wei(School of Mechanical Engineering,Zhejiang Sci-Tech University,Hangzhou 310018,China)
出处
《轻工机械》
CAS
2024年第5期1-9,共9页
Light Industry Machinery
基金
国家自然科学基金资助项目(51705465)。
关键词
球面并联机构
运动冗余
奇异分析
干涉分析
ADAMS软件
spherical parallel mechanism
kinematically redundant
singular analysis
interferometric analysis
ADAMS software
