| 一种新型四自由度非对称并联机构的运动学分析 |
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| 引用本文： | 李仕华,于长城,田圆.一种新型四自由度非对称并联机构的运动学分析[J].东北重型机械学院学报,2011(5):385-390. |
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| 作者姓名： | 李仕华 于长城 田圆 |
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| 作者单位： | 燕山大学机械工程学院,河北秦皇岛066004 |
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| 基金项目： | 河北省高等学校科学技术研究重点项目资助（ZH2011236） |
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| 摘 要： | 在分析2-UPU/2-URU并联机构结构特点的基础上,运用封闭法对机构进行了位置分析,并验证了数值特例,利用球坐标搜索法得到影响并联机构工作空间的各种约束条件下的边界点,并通过MATLAB软件绘制工作空间的三维图形,得到约束条件对工作空间的影响规律,说明了其工作空间分布的特点,并进行了奇异分析。该机构是一种过约束机构,本文的研究为该机构工作空间优化设计和机构尺寸设计提供了依据,为该并联机构进一步的研究奠定了基础。
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| 关 键 词： | 并联机构 位置分析 工作空间 球面搜索法 |
Kinematics analysis of a novel asymmetric four-DOF parallel mechanism |
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| Authors: | LI Shi-hua YU Chang-cheng TIAN Yuan |
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| Affiliation: | (College of Mechanical Engineering,Yanshan University,Qinhuangdao,Hebei 066004,China) |
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| Abstract: | A novel over-constrained 2-UPU/2-URU parallel mechanism is proposed.First,its displacement kinematics is analyzed using a closed method,the numerical solutions are obtained and verified based on its analysis of the structural characteristics.Second,the boundary points under constraint conditions which influence its workspace are obtained,and its three-dimensional workspace is constructed using MATLAB software.Third,the rules that constraint the influence workspace are obtained,the characteristics of workspace distribution is demonstrated,and the singularity is analyzed.The studies of this parallel mechanism provide a basis for the optimization of workspace and the dimension design of this mechanism and a foundation for further study of this parallel mechanism. |
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| Keywords: | parallel mechanism position analysis working spaces spherical coordinates search method |
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