3-CRR型并联机构运动学与奇异性分析OA北大核心CSCDCSTPCD
Kinematics and singularity analysis of 3-CRR parallel mechanism
对一种典型的具有三平移自由度的3-CRR型并联机构进行正、逆运动学求解,讨论该类型并联机构的工作空间,利用虚功原理研究该型机构运行时在动平台承受固定载荷情况下主动关节处的受力情况,定义雅克比矩阵转置矩阵的∞?范数作为评价3-CRR型并联机构承载能力与运动精度性能的指标,通过设定该指标的许用值,可得到3-CRR型并联机构性能不能满足工作要求的区域,避开该区域即可成功避开机构的奇异点,使得3-CRR型并联机构工作于正常状态,对其他并联机构的设计和综合具有指导意义.
A classical parallel 3-CRR mechanism with 3 degrees of freedom was presented, and its forward and inverse kinematics were derived respectively. Furthermore, the workspace was studied and illustrated graphically. The relationship between the force applied on the moving platform and the resultant force on the active joints was studied by the principle of virtual work. The infinite norm of the transpose of the Jacobin matrices was defined as the index to evalua…查看全部>>
刘知辉;牛军川;周一群
山东大学机械工程学院,山东济南,250061山东大学高效洁净机械制造教育部重点实验室,山东济南,250061山东大学机械工程学院,山东济南,250061
机械制造
并联机构工作空间奇异虚功原理
parallel mechanismworkspacesingularityprinciple of virtual work
《中南大学学报（自然科学版）》 2017 (5)
高铁等超大型结构宽频声振预报的混合能量流方法
1190-1197,8
国家自然科学基金资助项目(51275275,51675306)山东省优秀中青年科学家科研奖励基金资助项目(BS2010ZZ006) (Projects(51275275, 51675306) supported by the National Natural Science Foundation of China Project(BS2010ZZ006) supported by the Shandong Young Scientists Award Fund)
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