| 4-SPS/PPU型并联机构工作空间与尺度分析 |
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| 引用本文： | 季 晔,刘宏昭,原大宁. 4-SPS/PPU型并联机构工作空间与尺度分析[J]. 农业机械学报, 2013, 44(11): 322-328 |
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| 作者姓名： | 季 晔 刘宏昭 原大宁 |
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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 |
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| 基金项目： | 国家自然科学基金资助项目（51275404）、陕西省重点学科建设专项基金资助项目和陕西高校省级重点实验室科研项目（2010JS080） |
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| 摘 要： | 以4-SPS并联机构为研究对象，采用加约束从动支链的构型演变方法得到一类2T2R（两个移动和两个转动）4自由度并联机构。根据速度Jacobian矩阵分析了机构的奇异位形，建立了4-SPxyz S/PxPzUxz 并联机构的工作空间求解的约束条件，得到了机构的位置和姿态工作空间，并提出利用“点集”近似计算位置工作空间大小的方法。引入敏感度概念，利用数值法解得了位置工作空间大小和姿态工作空间范围与机构尺度参数之间的关系，为机构尺度参数的选取提供了依据。
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| 关 键 词： | 并联机构 构型演变 奇异位形 工作空间 尺度分析 |
Workspace and Scale Analysis of 4-SPS/PPU Parallel Mechanism |
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| Ji Ye,Liu Hongzhao and Yuan Daning. Workspace and Scale Analysis of 4-SPS/PPU Parallel Mechanism[J]. Transactions of the Chinese Society for Agricultural Machinery, 2013, 44(11): 322-328 |
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| Authors: | Ji Ye Liu Hongzhao Yuan Daning |
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| Abstract: | The parallel mechanism of 4-SPS was studied. 2T2R (2 translational and 2 rotational) 4-DOFs (degrees of freedom) parallel mechanism were obtained by configuration evolution of adding and altering the follower-limb. The constraint condition of solving the position and attitude workspace about 4-SPxyz S/PxPzUxz parallel mechanism was built. The set of points was used to calculate dimensional size of workspace. The concept of sensitivity was introduced. The numerical method was used to calculate dimensional size of position workspace and scope of attitude workspace in the solution of different scale. |
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| Keywords: | Parallel mechanism Configuration evolution Singularity Workspace Scale analysis |
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