机械科学与技术2017，Vol.36Issue(7)：998-1004,7.DOI:10.13433/j.cnki.1003-8728.2017.0703
一种冗余驱动并联机构的设计与奇异性分析
Structure Synthesis and Singularity Analysis of a Novel Redundantly Actuated Parallel Mechanism
摘要
Abstract
According to the structure of Delta parallel mechanism,a novel spatial parallel mechanism with actuation redundancy that can perform three-dimensional translations was presented.The degree of freedom of the parallel mechanism was calculated based on the screw theory and the inverse position solution was analyzed.Then the Jacobian matrix of the parallel mechanism with redundant actuation was deduced by inverse position kinematics and differential method.The singularity loci of the Delta parallel mechanism was analyzed and two novel singularity loci were presented by Gosselin singularity analysis and the singularity loci of Delta mechanism and redundantly actuated parallel mechanism was compared.In order to verify the result of theoretical analysis,the concept of manipulability was introduced to evaluate the kinematical performance of the two kind of parallel mechanism based on numerical analysis method.The results of theoretical analysis indicate that the redundant actuation parallel mechanism can realize the same function as the Delta mechanism,but the second type of singularity loci are significantly less than those of Delta mechanism.The results of numerical simulation show that the suitable workspace and mechanism parameters can reduce the singularity loci of parallel mechanism and the correctness of the theoretical analysis results are verified.关键词
并联机构/冗余驱动/奇异位形/可操作度Key words
parallel mechanism/redundant actuation/singularity loci/manipulability分类
机械制造引用本文复制引用
黄胜军,刘宏昭..一种冗余驱动并联机构的设计与奇异性分析[J].机械科学与技术,2017,36(7):998-1004,7.基金项目
国家自然科学基金项目(51275404)资助 （51275404）
