【摘要】：并聯(lián)機(jī)構(gòu)中由于各桿組間的約束類型不同導(dǎo)致部分桿組參數(shù)向量中含有不獨立的混合參數(shù),使得對機(jī)構(gòu)中輸出構(gòu)件自由度數(shù)目及性質(zhì)、機(jī)構(gòu)過約束判斷的直觀性變差。為構(gòu)建僅含獨立運動參數(shù)的桿組參數(shù)向量,分別就向量中非獨立的"角運動參數(shù)"、"非衍生線運動參數(shù)"、"衍生線運動參數(shù)"展開討論,基于螺旋理論,通過研究螺旋系的相關(guān)性,得到線性無關(guān)的基螺旋系,并等價到桿組參數(shù)矩陣中,建立獨立桿組參數(shù)矩陣,最終提出參數(shù)垂直分量有效準(zhǔn)則。結(jié)合該準(zhǔn)則,基于GOM自由度新公式,對幾種典型機(jī)構(gòu)進(jìn)行自由度分析,驗證這些理論在獨立桿組參數(shù)矩陣確定、機(jī)構(gòu)自由度求解、輸出構(gòu)件自由度及運動性質(zhì)分析、過約束判斷等方面的應(yīng)用。
[Abstract]:Because of the different constraint types among the parallel mechanisms, there are not independent mixed parameters in the parameter vectors of the partial rod groups, which makes the intuitionistic judgment of the over-constraint judgment of the mechanism worse for the number and properties of the degrees of freedom of the output components in the mechanism. In order to construct the parameter vector of rod group with only independent motion parameters, the independent "angular motion parameters", "non-derivative line motion parameters" and "derivative line motion parameters" in the vector are discussed respectively. Based on the helix theory, By studying the correlation of helix system, a linear independent base spiral system is obtained, which is equivalent to the parameter matrix of rod group, and the parameter matrix of independent rod group is established. Finally, the effective criterion of parameter vertical component is put forward. Combined with this criterion, based on the new formula of GOM degree of freedom, the degree of freedom analysis of several typical mechanisms is carried out, and these theories are verified in the determination of the parameter matrix of independent bar group, the solution of mechanism degree of freedom, the analysis of the degree of freedom of output components and the analysis of kinematic properties. The application of over-constrained judgment.
【作者單位】： 燕山大學(xué)河北省并聯(lián)機(jī)器人與機(jī)電系統(tǒng)實驗室;燕山大學(xué)先進(jìn)鍛壓成形技術(shù)與科學(xué)教育部重點實驗室;
【基金】：國家自然科學(xué)基金資助項目(51275438,51775473) 河北省高等學(xué)�？茖W(xué)技術(shù)研究項目(QN2014175) 河北省教育廳高等學(xué)�？萍加媱澢嗄昊鹳Y助項目(QN2017144)
【分類號】：TH112

【相似文獻(xiàn)】

相關(guān)期刊論文 前1條

1 張京軍，倪天智，，唐冠雄;退化系統(tǒng)的結(jié)構(gòu)振動特征問題的雙參數(shù)矩陣攝動法[J];河北煤炭建筑工程學(xué)院學(xué)報;1995年01期

本文編號：2484431