基于旋量理论的3-US并联机构运动学分析
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摘要
应用旋量理论对一种3-US并联机构进行了运动学分析。首先对该并联机构进行位置分析,根据机构的几何约束条件,将机构的位置分析转化为对三个非线性几何约束方程的求解,运用数值计算方法对方程进行了求解。然后应用旋量理论建立了该机构的正逆速度分析方程,并通过实例说明了这种方法的应用。最后应用ADAMS软件对3-US并联机构进行仿真,并与本文方法计算结果对比,验证了本文方法的精确性。
In this paper,the kinematic analysis of a 3-US parallel mechanism is studied by screw theory. Position analysis is presented via three nonlinear equations which are constructed based on the geometric constraints of the mechanism. Velocity analysis is then carried out using theory screw leading to the Jacobian of the proposed mechanism. The equations are further computed with numerical method and two numerical examples are provided so as to illustrate the efficiency of the method. The numerical results of kinematics analysis are proved to be appropriate compared with the simulation results obtained from the commercial software ADAMS.
In this paper,the kinematic analysis of a 3-US parallel mechanism is studied by screw theory. Position analysis is presented via three nonlinear equations which are constructed based on the geometric constraints of the mechanism. Velocity analysis is then carried out using theory screw leading to the Jacobian of the proposed mechanism. The equations are further computed with numerical method and two numerical examples are provided so as to illustrate the efficiency of the method. The numerical results of kinematics analysis are proved to be appropriate compared with the simulation results obtained from the commercial software ADAMS.
引文
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[19]XuQingsong,Li Yangmin.An investigation on mobility and stiffness of a 3-DOF translational parallel manipulator via screw theory[J].Robotics and Computer-Integrated Manufacturing,2008,24:402~414.
[20]Qin Yun.Constraint Analysis and Theoretical Development of Multi-Furcation and Reconfiguration in Mechanisms[D].London:King’s College London,University of London,2012.
[2]Zhang Dan,Xi Fengfeng,Chris M M,et al.Analysis of parallel kinematic machine with kinetostaticmodelling method[J].Robotics and Computer-Integrated Manufacturing,2004,20(2):151~165.
[3]Gao F,Feng B,Zhao H,et al.A novel 5-DOF fully parallel kinematic machine tool[J].Int J AdvManufTechnol,2006,31:201~207.
[4]Merlet J P.Optimal Design for the Micro Parallel Robot MIPS[C]//Proceedings of IEEE International Conference on Robotics and Automation.Washington,2002:1149~1154.
[5]Stewart D.A platform with six degrees of freedom[J].Proceedings Institution of Mechanical Engineers,1965,180(5):371~378.
[6]Lu Qipeng,Li Yongjun,PengZhongqi.Kinematics analysis of sixbar parallel mechanism and its applications in synchrotron radiation beamline[J].Nuclear Instruments and Methods in Physics Research A,2012,674:8~14.
[7]Zhang Chen,Zhang Liyan.Kinematics analysis and workspace investigation of a novel 2-DOF parallel manipulator applied in vehicle driving simulator[J].Robotics and Computer-Integrated Manufacturing,2013,29:113~120.
[8]Gallardo J,Rico J M,Frisoli A,et al.Dynamics of parallel manipulators by means of screw theory[J].Mechanism and Machine Theory,2003,38(11):1113~1131.
[9]Merlet J P.Singular configurations of parallel mechanisms and grassmanngeometry[J].International Journal of Robotics Research,1989,8(9):45~56.
[10]Fang Y,Tsai L W.Structure synthesis of a class of 4-degreeof freedom and 5-degree of freedom parallel mechanisms with identical limb structures[J].International Journal of Robotics Research,2002,21(9):799~810.
[11]朱思俊.少自由度并联机构运动学及五自由度并联机构的相关理论[D].河北:秦皇岛:燕山大学,2007.
[12]QinY,DaiJS.Configuration and Actuation Analysis of a 2US+UPS Asymmetrical Parallel Mechanism[J].ProcIMechE Part C:Journal of Mechanical Engineering Science,2012,226(9):2296~2308.
[13]Rico JM,Duffy J.An Application of screw algebra to the acceleration analysis of serial chains[J].Mech Mach Theory,1996,31(4):445~457.
[14]Tsai L W.Robot Analysis:The Mechanics of Serial and Parallel Manipulators[M].New York:John Wiley&Sons,1999.
[15]Jaime G A,Horacio O,Jos M R.Kinematics of 3-RPS parallel manipulators by means of screw theory[J].The International Journal of Advanced Manufacturing Technology,2008,36(5~6):598~605.
[16]Jaime G A,Benjam n A R,H ctor R G.Kinematics of a five-degrees-of-freedom parallel manipulator using screw theory[J].Int J AdvManufTechnol,2009,45:830~840.
[17]Jaime G A,Agust n R A,H ctor R G,et al.Kinematics of an asymmetrical three-legged parallel manipulator by meansof the screw theory[J].Mechanism and Machine Theory,2010,45:1013~1023.
[18]Jaime G A,Jos M R M,G rsel A.Kinematics and singularity analyses of a 4-dof parallel manipulator using screw theory[J].Mechanism and Machine Theory,2006,41:1048~1061.
[19]XuQingsong,Li Yangmin.An investigation on mobility and stiffness of a 3-DOF translational parallel manipulator via screw theory[J].Robotics and Computer-Integrated Manufacturing,2008,24:402~414.
[20]Qin Yun.Constraint Analysis and Theoretical Development of Multi-Furcation and Reconfiguration in Mechanisms[D].London:King’s College London,University of London,2012.