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空間轉(zhuǎn)動(dòng)3-SPS-S并聯(lián)機(jī)構(gòu)運(yùn)動(dòng)學(xué)性能分析
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國(guó)家自然科學(xué)基金資助項(xiàng)目（51075118）和河北省自然科學(xué)基金資助項(xiàng)目（E2010001010）


Kinematic Performance Analysis of 3-SPS-S Spatial Rotation Parallel Mechanism
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    摘要:

    提出了將空間三維轉(zhuǎn)動(dòng)3-SPS-S并聯(lián)機(jī)構(gòu)作為隧道管片安裝機(jī)器人的微調(diào)機(jī)構(gòu)，對(duì)該機(jī)構(gòu)進(jìn)行了運(yùn)動(dòng)學(xué)性能分析。在建立機(jī)構(gòu)運(yùn)動(dòng)學(xué)模型，求解機(jī)構(gòu)的位置逆解及其雅可比矩陣基礎(chǔ)上，建立了局部剛度、局部靈活度和驅(qū)動(dòng)性能3項(xiàng)性能評(píng)價(jià)指標(biāo)。結(jié)合具體應(yīng)用對(duì)該機(jī)構(gòu)進(jìn)行了運(yùn)動(dòng)性能評(píng)價(jià)。分析結(jié)果表明該機(jī)構(gòu)具有良好的運(yùn)動(dòng)性能，能滿足工程需要。

    Abstract:

    According to practical requirements, a 3-SPS-S parallel manipulator mechanism was proposed to be rotation fine-tuning manipulator in shield tunneling machines. Also the kinematics of the mechanism was investigated. Furthermore, the local stiffness, local dexterity and driving force which were important factors for evaluating the performance of the mechanisms on the basis of kinematic model, inverse kinematics and Jacobian matrix were investigated. The kinematic performance of the mechanism was evaluated according to the specific requirements. The results showed that the proposed mechanism had good kinematic performances and could be used in fields like shield tunneling machines.

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張艷偉,韋斌,王南,謝立臣.空間轉(zhuǎn)動(dòng)3-SPS-S并聯(lián)機(jī)構(gòu)運(yùn)動(dòng)學(xué)性能分析[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2012,43(4):212-215,207. Zhang Yanwei, Wei Bin, Wang Nan, Xie Lichen. Kinematic Performance Analysis of 3-SPS-S Spatial Rotation Parallel Mechanism[J]. Transactions of the Chinese Society for Agricultural Machinery,2012,43(4):212-215,207.

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  • 在線發(fā)布日期: 2012-04-18
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