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2T1R并聯(lián)機(jī)構(gòu)位置及奇異性分析
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國(guó)家自然科學(xué)基金資助項(xiàng)目(50905055)


Analysis of Position and Singularity of a Parallel Mechanism with Three Degrees of Freedom
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    摘要:

    基于有序單開(kāi)鏈單元原理提出了一種兩平移一轉(zhuǎn)動(dòng)（2T1R）并聯(lián)機(jī)構(gòu)。進(jìn)行了機(jī)構(gòu)的自由度和運(yùn)動(dòng)輸出特性分析；同時(shí)對(duì)機(jī)構(gòu)的位置進(jìn)行了分析，求出動(dòng)平臺(tái)位置的正、逆解析解；并對(duì)機(jī)構(gòu)的奇異性進(jìn)行了研究，討論了機(jī)構(gòu)的幾種奇異位形，通過(guò)Matlab軟件編程，繪出機(jī)構(gòu)奇異時(shí)動(dòng)平臺(tái)的位置隨姿態(tài)的變化情況。

    Abstract:

    Based on the single-opened-chain (SOC) unit theory, a new parallel mechanism with two translational and one rotational（2T1R）degrees of freedom was put forward. First, the degrees of freedom and the motion output characteristic were analyzed, and then both the forward and the inverse analytical solutions of the moving platform’s position were obtained. The singular configurations of the mechanism were also discussed; the change of the position with respect to the pose angle in singular configuration was obtained through programming with Matlab software. All the above analysis provides foundation for the further research on properties and dynamics of the mechanism. 

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吳鑫,陳美麗,張彥斌.2T1R并聯(lián)機(jī)構(gòu)位置及奇異性分析[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2010,41(2):208-213. Wu Xin, Chen Meili, Zhang Yanbin. Analysis of Position and Singularity of a Parallel Mechanism with Three Degrees of Freedom[J]. Transactions of the Chinese Society for Agricultural Machinery,2010,41(2):208-213.

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