| 混合驱动平面五杆并联机构的工作空间研究 |
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| 引用本文： | 彭利平,訾斌.混合驱动平面五杆并联机构的工作空间研究[J].机械传动,2010,34(4). |
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| 作者姓名： | 彭利平 訾斌 |
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| 作者单位： | 中国矿业大学,机电工程学院,江苏,徐州,221116 |
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| 基金项目： | 江苏省博士后基金项目(0802022C);;中国矿业大学青年科研基金资助项目(2008A013);;中国矿业大学2009年校级“大学生实践创新训练计划”立项项目(2009-46) |
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| 摘 要： | 针对混合驱动平面五杆并联机构,首先,基于杆件封闭矢量方程,推导出机构工作点(x,y)与常速电机、伺服电机不同组合的转角输入的关系。其次,在机构符合混合驱动平面五杆机构构型的前提下,根据上面推导出的关系计算出工作点坐标,从而高效、精确地定位工作点。此外,应用Matlab软件编程实现了同一混合驱动下机构工作点不同装配角度α时的工作空间,直观地表达了工作点所能达到的范围。最后,考虑到无法避免机构构件的制造与装配误差,运用原始误差独立作用原理,定量地推导出误差对工作空间的影响,具有一定的实际意义。
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| 关 键 词： | 混合驱动平面五杆并联机构 工作空间 数值仿真 |
Study on Workplace of the Hybrid-driven Planar Five-bar Parallel Mechanism |
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| Peng Liping Zi Bin.Study on Workplace of the Hybrid-driven Planar Five-bar Parallel Mechanism[J].Journal of Mechanical Transmission,2010,34(4). |
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| Authors: | Peng Liping Zi Bin |
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| Affiliation: | School of Mechatronics Engineering/a>;China University of Mining and Technology/a>;Xuzhou 221116/a>;China |
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| Abstract: | Aiming at hybrid-driven planar five-bar parallel mechanism,firstly,the relation between the position of the working point and the input corner of normal motor together with the servomotor is derived based on the plural equations of the close links.Under the premise of the mechanism in line with the hybrid-driven planar five-bar mechanism,the relation derived above can be used to make an exact and efficient orientation of the working point.In addition,a workspace drawing of the working point with different a... |
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| Keywords: | Hybrid-driven planar five-bar parallel mechanism Workspace Numerical simulation |
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