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提出了一种平行导轨二滑块驱动在一侧且内点作为操作点的平面两自由度并联操作手,求解得到了该并联操作手显式的位置正反解、雅可比矩阵、机构的速度与加速度逆解,系统分析了机构设计参数对机构可达工作空间的影响,并给出了各种情况的工作空间大小;利用雅可比矩阵法讨论了机构奇异位形发生的数学条件以及如何求解奇异轨迹,并给出了奇异位形与杆件尺寸之间的关系。为并联操作手的样机研制及控制策略研究奠定了理论基础。
A two-degree-of-freedom two-degree-of-freedom parallel manipulator with one side and inner point as the operating point driven by two parallel slide rails is proposed. The explicit position and anti-parallel solution of the parallel manipulator is obtained. The Jacobian matrix, And the inverse of acceleration, the influence of the design parameters of the mechanism on the reachable working space of the mechanism is systematically analyzed, and the working space size is given in various situations. Mathematical conditions for the occurrence of the singularity of the mechanism and how to solve the problem are discussed using the Jacobian matrix method Singular trajectory, and gives the relationship between the singularity and the size of the bar. It laid the theoretical foundation for the research on prototype development and control strategy of parallel operators.