[1]韩旭炤,张小粉,杨新刚,等.基于任务空间的 2P3RR 并联机构尺度综合[J].机械与电子,2022,(09):51-55.
　HAN Xuzhao,ZHANG Xiaofen,YANG Xingang,et al.Dimensional Synthesis of a 2P3RR Parallel Mechanism Based on Task Space[J].Machinery & Electronics,2022,(09):51-55.
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基于任务空间的 2P3RR 并联机构尺度综合()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2022年09期
页码:
51-55
栏目:
机电一体化技术
出版日期:
2022-09-27

文章信息/Info

Title:
Dimensional Synthesis of a 2P3RR Parallel Mechanism Based on Task Space
文章编号:
1001-2257 ( 2022 ) 09-0051-05
作者:
韩旭炤 1 ; 张小粉 1 ; 杨新刚 2 ; 向玉春 1 ; 刘 雯 1
1. 咸阳职业技术学院机电学院,陕西 咸阳 712000 ; 2. 西安理工大学机械与精密仪器工程学院,陕西 西安 710048
Author(s):
HAN Xuzhao1 ;  ZHANG Xiaofen1 ;  YANG Xingang2 ;  XIANG Yuchun1 ;  LIU Wen1
( 1.School of Mechatronic Engineering , Xianyang Vocational Technical College , Xianyang 712000 , China ; 2.School of Mechanical and Precision Instrument Engineering , Xi ’ an University of Technology , Xi ’ an 710048 , China )
关键词:
并联机构; 运动学; 任务空间; 尺度综合
Keywords:
parallel mechanism ;  kinematics ;  task workspace ;  dimensional synthesis
分类号:
TH112
文献标志码:
A
摘要:
结合一种五坐标混联工作台的开发,对其少自由度并联机构部分进行了深入的研究。给出了该并联机构的运动学位置正、逆解,求解了雅可比矩阵,分析了工作空间,基于任务空间探讨了该并联机构主要结构参数之间的相互关系,采用雅可比矩阵条件数的倒数的全域均值作为该并联机构灵巧度评价指标,对其进行灵巧性分析,给出了混联工作台开发实例并进行了设计计算,为混联运动平台的设计开发奠定了理论基础。
Abstract:
Combined with the development of a five-coordinate hybrid worktable , the part of its less degree of freedom parallel mechanism is deeply studied.The forward and inverse solutions of the kinematics of the parallel mechanism are given , the Jacobian matrix is solved , the workspace is analyzed , and the relationship between the main structural parameters of the parallel mechanism is discussed based on the task space.The global mean of the reciprocal of the condition number of Jacobian matrix is used as the evaluation index of the parallel mechanism to analyze its dexterity , the development example of hybrid worktable is given and its design calculation is carried out , which lays a theoretical foundation for the design and development of hybrid motion platform.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期: 2022-04-27
基金项目:陕西省自然科学基础研究计划资助项目( 2019JM-209 );咸阳职业技术学院博士基金项目( 2021BK06 )
作者简介:韩旭炤 ( 1979- ),男,宁夏隆德人,博士,副教授,研究方向为并联机器人、混联运动机床及其虚拟样机技术。
更新日期/Last Update: 2022-10-26