一种含中心驱动五自由度并联机构运动学分析
Kinematics Analysis of the 5-DOF Parallel Manipulator with One Center Driven Branch
张灿果 1宋占锋 1倪笑宇 1耿明超1
作者信息
- 1. 河北建筑工程学院机械工程学院,河北 张家口 075024
- 折叠
摘要
设计了一种含中心驱动五自由度并联机构,分析了该机构的自由度和结构特点.利用矢量法建立了含中心驱动五自由度并联机构中各驱动分支和动平台运动之间的映射关系,利用中心驱动分支中的约束力/约束矩,推导了该并联机构的Jacobean矩阵和Hessian矩阵.建立了含中心驱动五自由度并联机构的运动学模型.利用先进CAD软件验证了并联机构运动学模型的正确性.分析了含中心驱动五自由度并联机构定姿态工作空间,为该类并联机构的应用奠定了理论基础.
Abstract
A novel 5-DOF parallel manipulator with one center driven branch is proposed.The degree of freedom and structural characteristics of the mechanism are analyzed.The formulae for the kinematics relationship between the driving branches and the moving platform is deduced by vector method.Based on the arrangement of joints in the center driven branch,the constrained force/torques are determined,the Jacobean matrix and Hessian matrix of the parallel manipulator are derived.The kinematics model of the 5-DOF PM with central driving branch is established.The correctness of kinematics model of the mechanism is veri-fied by advanced CAD software.The workspace of the PM is analyzed when the orientation of the moving platform is given.That provide the theoretical and technical foundations for its dynamics analysis and application.
关键词
并联机构/运动学/中心驱动/工作空间Key words
Parallel Manipulator/Kinematics/Center Driven Branch/Workspace引用本文复制引用
基金项目
河北省自然基金资助项目(E2018404044)
河北省教育厅青年基金(QN2021051)
河北省高等学校科学技术研究项目(ZD2019012)
出版年
2024
NETL
NSTL
万方数据