| 基于任务空间的 2P3RR 并联机构尺度综合 |
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| 引用本文： | 韩旭炤 ,张小粉 ,杨新刚 ,向玉春 ,刘 雯 .基于任务空间的 2P3RR 并联机构尺度综合[J].机械与电子,2022,0(9):51-55. |
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| 作者姓名： | 韩旭炤 张小粉 杨新刚 向玉春 刘 雯 |
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| 作者单位： | 1. 咸阳职业技术学院机电学院,陕西 咸阳 712000 ; 2. 西安理工大学机械与精密仪器工程学院,陕西 西安 710048 |
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| 摘 要： | 结合一种五坐标混联工作台的开发,对其少自由度并联机构部分进行了深入的研究。给出了该并联机构的运动学位置正、逆解,求解了雅可比矩阵,分析了工作空间,基于任务空间探讨了该并联机构主要结构参数之间的相互关系,采用雅可比矩阵条件数的倒数的全域均值作为该并联机构灵巧度评价指标,对其进行灵巧性分析,给出了混联工作台开发实例并进行了设计计算,为混联运动平台的设计开发奠定了理论基础。
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| 关 键 词： | 并联机构 运动学 任务空间 尺度综合 |
Dimensional Synthesis of a 2P3RR Parallel Mechanism Based on Task Space |
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| HAN Xuzhao,ZHANG Xiaofen,YANG Xingang,XIANG Yuchun,LIU Wen.Dimensional Synthesis of a 2P3RR Parallel Mechanism Based on Task Space[J].Machinery & Electronics,2022,0(9):51-55. |
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| Authors: | HAN Xuzhao ZHANG Xiaofen YANG Xingang XIANG Yuchun LIU Wen |
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| Affiliation: | ( 1.School of Mechatronic Engineering , Xianyang Vocational Technical College , Xianyang 712000 , China ; 2.School of Mechanical and Precision Instrument Engineering , Xi ’ an University of Technology , Xi ’ an 710048 , China ) |
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| Abstract: | Combined with the development of a five-coordinate hybrid worktable , the part of its less degree of freedom parallel mechanism is deeply studied.The forward and inverse solutions of the kinematics of the parallel mechanism are given , the Jacobian matrix is solved , the workspace is analyzed , and the relationship between the main structural parameters of the parallel mechanism is discussed based on the task space.The global mean of the reciprocal of the condition number of Jacobian matrix is used as the evaluation index of the parallel mechanism to analyze its dexterity , the development example of hybrid worktable is given and its design calculation is carried out , which lays a theoretical foundation for the design and development of hybrid motion platform. |
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| Keywords: | parallel mechanism kinematics task workspace dimensional synthesis |
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