三自由度冗余驱动并联机构的奇异性和工作空间分析

中国机械工程 ›› 2014, Vol. 25 ›› Issue (6): 751-756.

三自由度冗余驱动并联机构的奇异性和工作空间分析

周结华1;彭侠夫2

1.南昌航空大学,南昌,330063
2.厦门大学,厦门,361005

出版日期:2014-03-26 发布日期:2014-04-11
基金资助:
厦门大学“985工程”专项资金资助项目(0000-X07204)；福建省自然科学基金资助项目(2010J05141)；南昌航空大学博士启动基金资助项目(EA201204428)

Singularity and Workspace Analysis of a 3-DOF Parallel Manipulator with Redundant Actuation

Zhou Jiehua1;Peng Xiafu2

1.Nanchang Hangkong University,Nanchang,330063
2.Xiamen University,Xiamen,Fujian,361005

Online:2014-03-26 Published:2014-04-11
Supported by:
Fujian Provincial Natural Science Foundation of China（No. 2010J05141）

摘要/Abstract

摘要：

基于4-SPS/S三自由度冗余驱动并联机构的位置逆解模型,运用微分法推导出了该并联机构的雅可比矩阵，结合Gosselin奇异性分析法和数值分析法，分析了该并联机构的奇异性。随后分析了影响4-SPS/S三自由度冗余驱动并联机构工作空间的主要因素，并对其各支链的行程限制、各球铰副的转角限制和各支链间的尺寸干涉限制等影响因素进行了解析化分析。最后，基于4-SPS/S三自由度冗余驱动并联机构的位置正解模型，设计了该并联机构回转工作空间的求解算法。该算法避免了数值方法及几何方法的复杂性和不确定性，实现了回转工作空间的直观性表达。

关键词: 并联机构, 冗余驱动, 奇异性分析, 工作空间分析

Abstract:

The Jacobian matrix of a 4-spherical joint-prismatic joint-spherical joint/spherical joint (4-SPS/S) was deduced by inverse position kinematics and differential method, and its singularity was analyzed by Gosselin singularity analysis and numerical analysis method. The main factors which determine the workspace of the 4-SPS/S parallel manipulator
with redundant actuation were researched, and the analytical derivations of branched-chain stroke restriction, rotation angle restriction of kinematic pairs and size interference between the branched-chains were deduced. The algorithm of rotary workspace was designed by forward position kinematics, which can avoid the complexity of numerical method and the uncertainty of geometric method, and can realize visual expression of rotary workspace.

Key words: parallel manipulator, redundant actuation, singularity analysis, workspace analysis

中图分类号:

TH112

周结华, 彭侠夫. 三自由度冗余驱动并联机构的奇异性和工作空间分析[J]. 中国机械工程, 2014, 25(6): 751-756.

Zhou Jiehua, Peng Xiafu. Singularity and Workspace Analysis of a 3-DOF Parallel Manipulator with Redundant Actuation[J]. China Mechanical Engineering, 2014, 25(6): 751-756.

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