多运动模式并联机构工作空间分析
Workspace analysis of a parallel kinematic machine with multi-motion modes
刘鑫 1赵雯 1李建国 1赵艳芹 1宋爱平1
作者信息
- 1. 扬州大学机械工程学院,江苏 扬州 225127
- 折叠
摘要
面对行业对自动化装备的重大需求,引入一种由移动副驱动的并联机构,该机构具有多运动模式、大工作空间等特点,可用于钻孔、装配、检测等领域.为了分析并联机构的工作空间,采用闭环矢量法建立不同运动模式下系统通用的运动学模型;在此基础上,考虑滑块行程、关节转角等约束条件,提出空间搜索法搜索不同运动模式下并联机构的可达工作空间.结果表明:在不同的运动模式下,并联机构的工作空间连续无空洞,该结果为后续的机构设计及应用提供了理论依据.
Abstract
A new type of prismatic-joint-actuated parallel kinematic machine(PKM)is introduced to meet the great demand of automation equipment in industry.The PKM owns multi-motion modes and a large workspace,which can be applied to drilling,assembling and 3D detection.In order to analyze the workspace of the PKM,a general kinematic model is established by the closed-loop vector.Based on the proposed kinematic models and considering some constraint conditions inclu-ding stroke of mobile agents and limited angle of universal joints,the reachable workspace of the PKM under different motion modes is searched based on the space search method.Results show that the reachable workspace of PKM is continuous and there is no empty hole,which can provide important guidance for parameters design and practical application of the robot.
关键词
多运动模式/并联机构/运动学/工作空间Key words
multi-motion mode/parallel kinematic machine/kinematics analysis/workspace引用本文复制引用
基金项目
中国博士后科学基金面上项目(2023M732984)
出版年
2024
NETL
NSTL
万方数据