本文選題：-RRRS機(jī)構(gòu) + 冗余驅(qū)動　； 參考：《機(jī)械傳動》2016年07期

【摘要】：在動靜平臺之間采用3-RRRS機(jī)構(gòu)連接,能夠?qū)崿F(xiàn)動平臺相對于靜平臺的6維位姿變化。將S副釋放,該機(jī)構(gòu)構(gòu)型可以用于爬行類仿生機(jī)器人的通用結(jié)構(gòu)。該類機(jī)構(gòu)構(gòu)型由于具有冗余驅(qū)動的特征,能夠改良動平臺的運(yùn)動性能與工作空間,本文對其正運(yùn)動學(xué)問題進(jìn)行研究。首先根據(jù)結(jié)構(gòu)關(guān)系,建立包含冗余驅(qū)動變量的運(yùn)動方程。然后通過Bezout方程及變量代換等,求解冗余驅(qū)動變量。最后,給出了動平臺方向矩陣及運(yùn)動軌跡的計算模型,并以算例進(jìn)行了說明。本文的研究為同類問題的求解提供了參考。
[Abstract]:The 3-RRRS mechanism is used to connect the dynamic and static platforms, which can realize the six dimensional position and pose change of the moving platform relative to the static platform.The S-by-release mechanism can be used in the general structure of reptile bionic robot.Because of its redundant driving characteristics, this kind of mechanism can improve the kinematic performance and workspace of the moving platform. In this paper, the forward kinematics of this kind of mechanism is studied.First, according to the structure relation, the motion equation including redundant driving variables is established.Then the redundant driving variables are solved by Bezout equation and variable substitution.Finally, the calculation model of moving platform direction matrix and motion track is given, and an example is given to illustrate it.The research in this paper provides a reference for solving similar problems.
【作者單位】： 黃河水利職業(yè)技術(shù)學(xué)院;黃河科技學(xué)院職業(yè)技術(shù)學(xué)院;鄭州輕工業(yè)學(xué)院機(jī)電工程學(xué)院;
【基金】：河南省高校科技創(chuàng)新團(tuán)隊(duì)支持計劃(2012IRTSTHN013) 河南省重點(diǎn)科技攻關(guān)項(xiàng)目(152102210145)
【分類號】：TH112

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