【摘要】：奇異位形嚴(yán)重影響并聯(lián)機(jī)器人機(jī)構(gòu)的性能,有必要在獲得機(jī)構(gòu)奇異位形分布規(guī)律基礎(chǔ)上進(jìn)一步探討機(jī)構(gòu)的奇異規(guī)避問題.主要研究六自由度Gough-Stewart并聯(lián)機(jī)構(gòu)的奇異軌跡幾何性質(zhì)和無奇異路徑規(guī)劃.構(gòu)建機(jī)構(gòu)位置奇異軌跡方程,并指出機(jī)構(gòu)位于一系列動平面上的位置奇異軌跡均為具有明顯幾何性質(zhì)的二次曲線.基于上述奇異軌跡幾何性質(zhì),當(dāng)給定起始點和目標(biāo)點時,給出機(jī)構(gòu)無奇異運(yùn)動路徑存在與否的一般性判別方法;若存在無奇異運(yùn)動路徑,進(jìn)一步給出機(jī)構(gòu)位于動平面上的無奇異路徑規(guī)劃具體實現(xiàn)方法;以數(shù)值實例驗證了上述方法的有效性.研究成果對并聯(lián)機(jī)器人機(jī)構(gòu)的奇異規(guī)避問題研究具有重要的理論意義和實際參考價值.
[Abstract]:The singularity configuration seriously affects the performance of the parallel robot mechanism. It is necessary to further discuss the singularity evading problem on the basis of obtaining the singular configuration distribution law of the mechanism. The geometric properties of singular locus and the non-singular path planning of a 6-DOF Gough-Stewart parallel mechanism are studied in this paper. The position singular locus equation of the mechanism is constructed, and it is pointed out that the position singular locus of the mechanism on a series of moving planes are all conic curves with obvious geometric properties. Based on the geometric properties of the singular locus, a general method to distinguish the existence of the mechanism's motion path without singularity is given when the starting point and the target point are given. If there is a non-singular moving path, the realization method of the non-singular path planning of the mechanism on the moving plane is further given, and the effectiveness of the above method is verified by a numerical example. The research results have important theoretical significance and practical reference value for the study of singularity circumvention of parallel robot mechanism.
【作者單位】： 安徽理工大學(xué)機(jī)械工程學(xué)院;安徽理工大學(xué)機(jī)械工程博士后科研流動站;江南大學(xué)機(jī)械工程學(xué)院;上海交通大學(xué)機(jī)械系統(tǒng)與振動國家重點實驗室;
【基金】：國家自然科學(xué)基金資助項目(51605006) 機(jī)械系統(tǒng)與振動國家重點實驗室開放課題(MSV201407) 安徽省自然科學(xué)基金資助項目(1308085QE78) 安徽省高等學(xué)校自然科學(xué)研究基金重點資助項目(KJ2015A121)
【分類號】：TH112;TP242

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