一种5自由度并联机构运动学及仿真研究
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摘要
针对需要5自由度的特殊情况,提出一种新的5自由度的并联机构,对其运动学进行分析。应用螺旋理论以及修正的G-K公式验证了该并联机构所具有的自由度,运用闭环矢量法求该机构的位姿反解,基于Matlab及Adams软件对该机构进行运动学仿真。得出了该机构的自由度情况及Matlab和Adams得到的反解运动曲线。通过Adams仿真验证了该机构自由度求解的正确性,对比Matlab和Adams的反解运动曲线验证了该机构反解的正确性。
A new 5 degree of freedom parallel mechanism is proposed for the special case of 5 degrees of freedom,and its kinematics is analyzed. Using the spiral theory and the modified G-K formula,the degree of freedom of the parallel mechanism is verified,and the inverse kinematics of the mechanism is solved by the closed loop vector method. The kinematics simulation of the mechanism is carried out based on the Matlab and Adams. The degree of freedom of the mechanism and the inverse kinematics curve obtained by Matlab and Adams are obtained. The correctness of the degree of freedom of the mechanism is verified by Adams simulation,and the correctness of the inverse solution of the mechanism is verified by comparing the inverse kinematics curves of Matlab and Adams.
A new 5 degree of freedom parallel mechanism is proposed for the special case of 5 degrees of freedom,and its kinematics is analyzed. Using the spiral theory and the modified G-K formula,the degree of freedom of the parallel mechanism is verified,and the inverse kinematics of the mechanism is solved by the closed loop vector method. The kinematics simulation of the mechanism is carried out based on the Matlab and Adams. The degree of freedom of the mechanism and the inverse kinematics curve obtained by Matlab and Adams are obtained. The correctness of the degree of freedom of the mechanism is verified by Adams simulation,and the correctness of the inverse solution of the mechanism is verified by comparing the inverse kinematics curves of Matlab and Adams.
引文
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[3]周辉,曹毅.六自由度完全解耦并联机构型综合[J].机械传动,2016,40(9):6-12.
[4]朱伟,顾开荣,王传伟,等.一种3T1R并联机构设计及运动学性能分析[J].中国机械工程,2018,29(1):14-21.
[5]HAN X Z,WEI Z H,GAO F,et al.Characteristics analysis of a novel 2-DOF planar parallel mechanism[C].Proceeding MACE’12Proceedings of the 2012 Third International Conference on Mechanic Automation and Control Engineering,July27-29,2012,Washington,DC,USA.New York:IEEE,c2012:3046-3049.
[6]ARAUJO-GóMEZ P,MATA V,DíAZ-RODRíGUEZ M,et al.Design and kinematic analysis of a novel 3UPS/RPU parallel kinematic mechanism with 2T2R motion for knee diagnosis and rehabilitation tasks[J].Journal of Mechanisms&Robotics,2017,9(6):061004.
[7]石梦蕊,赵新华.3-PRRRR并联机构运动学和工作空间分析与数值仿真[J].机械传动,2017,41(2):66-70.
[8]程强,李瑞琴.3-CPR并联机构的设计与工作空间优化[J].机械传动,2017,41(4):163-167.
[9]黄真,赵永生,赵铁石.高等空间机构学[M].2版.北京:高等教育出版社,2014:114-152.