消除约束/驱动奇异的冗余驱动原理及并联腿机构设计

基于约束旋量理论,提出了约束奇异、驱动奇异判别准则,推导得出了消除约束驱动奇异的冗余驱动并联机构设计原理。并据此设计了一种无奇异的RxRyTz自由度冗余并联2RPS-UPU+2SPS腿机构。最后,通过剖析由约束、次生约束雅可比矩阵构成的完整雅可比矩阵的秩,验证了冗余驱动并联腿机构能够完全消除约束奇异和驱动奇异。该研究成果为无奇异并联腿机构的运动规划、性能优化、尺度综合、和运动控制奠定了必要的理论基础。

Redundantly ActuatedPrinciple for Eliminating Constraint/Actuated Singularity and Design of Parallel Leg Mechanism

In this paper,Based on the reciprocal screw principle,the discriminant criteria of constraint/actuated singularity are proposed,and the design principle of redundantly actuated parallel mechanism to eliminate constraint singularity/actuated singularity is derived.Then,a redundantly 2RPS-UPU+2SPS leg mechanism with no singularity RxRyTz degrees of freedom is designed.Finally,by analyzing the rank of the complete jacobian matrix,it is verified that the redundant parallel leg mechanism in this paper can completely eliminate the constrained singularity and actuated singularity.The research results of this paper lay a necessary theoretical foundation for motion planning,performance optimization,scale synthesis and motion control of non-singularity parallel leg mechanism.