| 空间4—SPS/CU并联机构运动学分析 |
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| 引用本文： | 王庚祥,原大宁,刘宏昭,吴现卫.空间4—SPS/CU并联机构运动学分析[J].农业机械学报,2012,43(3):207-212， 199. |
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| 作者姓名： | 王庚祥 原大宁 刘宏昭 吴现卫 |
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| 作者单位： | 西安理工大学;西安理工大学;西安理工大学;西安理工大学 |
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| 基金项目： | 国家自然科学基金资助项目（50575180）;陕西高校省级重点实验室科研项目（2010JS080）;陕西省重点学科建设专项资金资助项目 |
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| 摘 要： | 提出了一种能实现空间三维转动和沿Z轴移动的机构模型——空间4-SPS/CU并联机器人机构模型,其中SPS支链为驱动支链,CU为恰约束从动支链。采用螺旋理论分析了4-SPS/CU并联机构实现空间三转动一移动的机构学原理,计算了自由度,给出了位置正解和反解的方法,导出了Jacobian矩阵,分析了速度、加速度性能、奇异位形与工作空间,为该并联机构的实际应用提供了理论依据。
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| 关 键 词： | 并联机构 运动学 奇异位形 工作空间 |
Kinematics Analysis of Spatial 4-SPS/CU Parallel Mechanism |
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| Wang Gengxiang,Yuan Daning,Liu Hongzhao and Wu Xianwei.Kinematics Analysis of Spatial 4-SPS/CU Parallel Mechanism[J].Transactions of the Chinese Society of Agricultural Machinery,2012,43(3):207-212， 199. |
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| Authors: | Wang Gengxiang Yuan Daning Liu Hongzhao and Wu Xianwei |
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| Institution: | Wang Gengxiang Yuan Daning Liu Hongzhao Wu Xianwei(School of Mechanical and Precision Instrument Engineering,Xi’an University of Technology,Xi’an 710048,China) |
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| Abstract: | Spatial parallel mechanism of a novel 4-SPS/CU that can perform three-dimensional rotations and translation about Z axis was presented.The parallel mechanism of 4-SPS/CU,with SPS-limp regarded as the driver and CU-limp regarded as the driven,was synthesized.The principles that the mechanism could perform the above motions were analyzed based on the screw theory,and the degree of freedom of the mechanism was calculated.The forward and reverse solutions of position analysis were presented,then the Jacobian matrix of the mechanism was derived and its velocity,acceleration performance,singular configuration and workspace were analyzed. |
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| Keywords: | Parallel mechanisms Kinematics Singular configuration Workspace |
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