摘要

基于反螺旋理论与虚拟机构法对一种特殊3-UCR并联机构的瞬态运动特性进行了分析.利用支链与动平台的一阶影响系数矩阵之间的关系,建立了此并联机构在螺旋坐标系下的瞬态运动数学模型,得出了一阶影响系数矩阵只与机构输入参数和机构构型有关的结论.提出的建模方法同样适用于其它欠自由度并联机构的瞬态运动特性分析,运用该数学模型,可得到任意瞬态的螺旋系节距.分析表明,该机构具有两转动一平动的瞬态运动特性,并利用动静平台平行位姿时的具体数值实例,验证了上述分析结果.

补充资料

中图分类号：TP242

所属栏目：微纳技术与精密机械

基金项目：国家863高技术计划资助项目(No.2006AA04Z208)

收稿日期：2007-06-25

修改稿日期：2007-08-20

网络出版日期：--

作者单位    点击查看

备注：程刚(1977-),男,安徽淮北人, 博士研究生, 主要从事并联机构及救灾机器人的研究.E-mail: chgwqx@gmail.com作者简介：葛世荣(1963-),男,博士生导师,主要从事生物摩擦学、微型机械摩擦学、救灾机器人、矿山机械可靠性等方面的研究.E-mail: gesr@cumt.edu.cn

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引用该论文

程刚,葛世荣,蒋世磊. Research on transient kinematic characteristics of 3-UCR parallel robot[J]. Optics and Precision Engineering, 2008, 16(1): 108-113

程刚,葛世荣,蒋世磊. 3-UCR并联机构的瞬态运动学研究[J]. 光学 精密工程, 2008, 16(1): 108-113

被引情况

【1】程刚,万勇健,葛世荣. 3-RPS 对称并联支撑结构误差灵敏度研究. 光电工程, 2009, 36(9): 146-150

【2】张彦斌,王慧萍,吴 鑫. 完全各向同性3自由度平面并联机构的型综合. 光学 精密工程, 2012, 20(3): 579-586

【3】王永,姚太克,周烽,张丽敏. 望远镜副镜的三自由度并联支撑构型研究与运动分析. 光学 精密工程, 2013, 21(11): 2860-2869

【4】沈林勇,黄晨晨,钱晋武,邱亚,章亚男. 支链偏置的并联机构工作空间分析及尺度综合. 光学 精密工程, 2014, 22(12): 3310-3317