4 RRR冗余并联机构工作空间的SimMechanics求解

由于传统的工作空间分析方法局限于理论计算,而工作空间分析是机构设计及运动控制的基础,故采用了SimMechanics建立4-RRR冗余并联机构三维仿真实体运动学模型,对工作空间进行仿真研究;利用数值实例以驱动杆和从动杆的影响因子λ为条件采用运动仿真法编程得出了该机构的工作空间。结果表明:该机构的工作空间具有对称性且内部无空洞;当λ逐渐增大时,该机构的工作空间逐渐增大,当λ0.6时边界处的空洞增加,机构在边界的奇异位置点增多。与3-RRR并联机构的工作空间对比,机构的可达工作空间明显增大,这表明引入冗余是一种有效解决3-RRR并联机构的奇异位形多,增大其工作空间的方法。

Workspaces Solution of 4 RRR Redundant Parallel Mechanism by SimMechanics

Because the traditional workspace analysis method is limited to the theoretical computation, and the workspace analysis is the foundation of the mechanism design and the movement control, therefore the SimMechanics was used to established the 4-RRR redundant parallel mechanism three dimensional simulation kinematics model, which workspace was carried on the simulation research.Then the workspace of the mechanism was obtained by using the numerical example to drive the influence factor of the rod and the follower.The results show that the workspace of the mechanism is symmetrical and there is no empty inside;when λ gradually increasing, the workspace of the mechanism increases gradually, when λ>0.6,the hole at the boundary is increased, the singular position of the mechanism is increased.Compared with the workspace of the 3-RRR parallel mechanism, the reachable workspace of the mechanism is obviously increased, which indicates that the introduction of redundancy is an effective method to solve the singularity of the 3-RRR parallel mechanism, and increase the workspace of the parallel mechanism.