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空間轉(zhuǎn)動3-SPS-1-S型并聯(lián)機(jī)構(gòu)奇異位形研
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Loci Analysis of 3-SPS-1-S Spatial Rotation Parallel Manipulator
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    摘要:

    奇異性是機(jī)構(gòu)的固有性質(zhì),，奇異位形分析對并聯(lián)機(jī)構(gòu)的軌跡規(guī)劃和控制具有重要的意義,。研究一種空間轉(zhuǎn)動三自由度3-SPS-1-S型并聯(lián)機(jī)構(gòu)的奇異位形,，構(gòu)建了該并聯(lián)機(jī)構(gòu)的運(yùn)動學(xué)模型,，建立了機(jī)構(gòu)位置逆解與速度映射解析方程，并求出了機(jī)構(gòu)Jacobian矩陣,；提出該機(jī)構(gòu)奇異位形的判別準(zhǔn)則,，并引入了可操縱度這一運(yùn)動性能評價指標(biāo)進(jìn)行奇異性分析。分析結(jié)果表明,，該機(jī)構(gòu)在指定任務(wù)空間具有良好的可操縱性與運(yùn)動性能,，但在工作空間內(nèi)具有發(fā)生位形奇異的可能，在運(yùn)動過程中應(yīng)當(dāng)避開特殊運(yùn)動位置以避免奇異位形的發(fā)生,。

    Abstract:

    Singularity is an inherent nature of mechanism, which make a significant impact on mechanism’s work performance. The singularity loci of a spatial rotation 3-SPS-1-S parallel mechanism was studied. The parallel robot kinematics model was constructed. The equations for inverse displacement and velocity kinematics were derived, and the Jacobian matrix of this mechanism was analyzed. The singularity criterion was proposed,，and two types of singularity were determined to be singular configuration. Manipulability degree was introduced to evaluate kinematical performance of the parallel manipulator for the singularity loci analysis. The results showed that the parallel mechanism has a good manageability and kinematics performance in the specified task space, but the special motion position should be turned away to avoid the occurrence of singularity.

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張艷偉,崔國華,孫振軍,張占強(qiáng).空間轉(zhuǎn)動3-SPS-1-S型并聯(lián)機(jī)構(gòu)奇異位形研[J].農(nóng)業(yè)機(jī)械學(xué)報,2010,41(4):199-203. Loci Analysis of 3-SPS-1-S Spatial Rotation Parallel Manipulator[J]. Transactions of the Chinese Society for Agricultural Machinery,2010,41(4):199-203.

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