Analysis of 5-DOF Parallel Driving Mechanisms and Their Position Resolution

doi:10.3969/j.issn.1004-132X.2021.12.004

Abstract

Abstract: A multi-branch coupled parallel driving mechanism with three translations and two rotations was proposed. Degree of freedom and motion characteristics of end for the mechanism were analyzed based on position and orientation characteristics set method. Inverse kinematics model of the mechanisms was established by homogeneous transformation method. Full Jacobian matrix of parallel driving mechanisms was solved. Forward kinematics model was established based on the Newton iterative method, and theoretical model was verified by simulation. Reachable workspace of the mechanisms was drawn by CAD variational geometry method. Global position sensitivity coefficient index of the mechanisms was defined, and the influences of resolution for the driving system on the position resolution of the mechanisms under specific working conditions was analyzed systematically.

Key words: parallel driving mechanism, kinematics, Jacobian matrix, position resolution ability

摘要： 提出了一种具有三移动和二转动的多分支耦合并联驱动机构，基于方位特征集法分析了机构自由度及机构末端的运动特征。利用齐次变换法建立了机构的运动学逆解模型，求解了并联驱动机构的全雅可比矩阵。基于牛顿迭代法建立了运动学正解模型，并对理论模型进行了仿真验证。利用CAD变分几何法绘制了机构的可达工作空间。定义了机构的全域位置敏感度系数指标，系统分析了特定工况下的驱动系统分辨率对机构位置分辨能力的影响规律。

关键词: 并联驱动机构, 运动学, 雅可比矩阵, 位置分辨能力

CLC Number:

TP242

ZHANG Jingzhu, SHI Hanqing, WANG Tao, HUANG Qingxue, JIANG Li. Analysis of 5-DOF Parallel Driving Mechanisms and Their Position Resolution[J]. China Mechanical Engineering, 2021, 32(12): 1414-1422，1431.

张金柱, 史汉卿王涛, 黄庆学, 姜力. 五自由度并联驱动机构及其位置分辨能力分析[J]. 中国机械工程, 2021, 32(12): 1414-1422，1431.

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