新型3-DOF冗余并联机构运动学和工作空间分析

因具备更高刚度、更好动力学性能等特点,冗余驱动并联机构越来越多地应用于各行业中。提出一种支链为双滑块结构的3-DOF冗余并联机构,基于位置正、反解分别推导了机构的运动学方程,并结合反解方程和MATLAB对机构进行运动学仿真,绘制了驱动位移、速度曲线;结合运动学分析结果与正解方程对机构工作空间进行分析,绘制了机构三维工作空间;运动学、工作空间分析结果表明,机构在工作空间内运动平稳,无位移、速度突变等情况,且工作空间关于XOZ面具有良好的对称性;研究结果为该构型冗余并联机构的实际应用提供了基础。

Kinematics and Workspace Analysis of a New Type of 3-DOF Redundant Parallel Mechanism

Due to higher stiffness,better dynamics performance,etc.,the redundantly driven parallel mechanisms are increasingly used in various industries.A 3-DOF redundant parallel mechanism with a double-slider structure is proposed.Based on the direct position solution and inverse position solution,the kinematics equation of the mechanism is deduced separately,and the kinematics simulation are carried out by combining the inverse solution equation with MATLAB to draw the drive displacement and speed.Combining kinematics analysis results and direct position solution equations to analyze the workspace of the mechanism,and drawing the three-dimensional workspace of the mechanism.The results of kinematics and workspace show that the mechanism runs smoothly in the workspace,without sudden change in speed,displacement,etc.,and the work space has good symmetry about XOZ.The research results also provide the foundation for the practical redun dant application of this configuration redundant parallel mechanism.