| 球面2-DOF冗余驱动并联机器人静力学全解 |
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| 引用本文： | 李永泉,张立杰,郭菲,郭志民. 球面2-DOF冗余驱动并联机器人静力学全解[J]. 机械工程学报, 2011, 47(19). DOI: 10.3901/JME.2011.19.022 |
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| 作者姓名： | 李永泉 张立杰 郭菲 郭志民 |
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| 作者单位： | 燕山大学机械工程学院 秦皇岛066004 |
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| 基金项目： | 国家自然科学基金(50875226); 河北省教育厅(Z2009147)资助项目 |
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| 摘 要： | 以球面2-DOF冗余驱动并联机器人为研究对象,在考虑构件弹性的情况下,采用传统的拆杆法建立机构的静力学平衡方程,利用积分法求出各杆件变形,再运用小变形叠加原理建立机构的变形补充协调方程,共得到42个方程,但该机构为冗余机构,共有43个未知数,为此采用输入力优化方法,得到该机构静力学全解。通过数值算例,绘制输出轴在外载荷作用下沿给定轨迹的受力图。研究为该机构在工程中的结构设计与应用提供了静力学理论基础。
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| 关 键 词： | 2自由度 球面机构 静力学 变形协调方程 力优化 |
Static Full-solutions of Spherical 2-DOF Parallel Manipulator with Actuation Redundancy |
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| LI Yongquan,ZHANG Lijie,GUO Fei,GUO Zhimin. Static Full-solutions of Spherical 2-DOF Parallel Manipulator with Actuation Redundancy[J]. Chinese Journal of Mechanical Engineering, 2011, 47(19). DOI: 10.3901/JME.2011.19.022 |
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| Authors: | LI Yongquan ZHANG Lijie GUO Fei GUO Zhimin |
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| Affiliation: | LI Yongquan ZHANG Lijie GUO Fei GUO Zhimin(School of Mechanical Engineering,Yanshan University,Qinhuangdao 066004) |
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| Abstract: | The research subject is spherical 2-DOF parallel manipulator with actuation redundancy.Considering the elasticity of the bar,via the traditional dismantle-bar method,the static equilibrium equations of the mechanism are established,calculating the deformation of the bar by integral method,and then utilizing the micro-deformation and superposition principle,the deformation equations of compatibility are derived,42 equations are obtained,but there are 43 unknown parameters in all because of redundant mechanis... |
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| Keywords: | Two degrees of freedom(2-DOF) Spherical manipulator Statics Deformation equation of compatibility Force optimization |
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