平面3自由度及并联机构运动研究(李出林0..docVIP

平面自由度并联机构运动分析 李春林 (宝鸡文理学院 陕西 宝鸡 721007） 摘 要 针对平面3自由度并联机器人的结构特点，采用运动等同性条件建立了机构位置的约束方程，通过代数消元、恒等变换等数学技巧，消去机构约束方程的位置变量，从而得到只含有运动平台姿态角的三角超越方程，等价于一个8次代数方程。在研究机构输入输出之间速度、加速度的映射关系时，采用了影响系数法，得到机构运动的一阶、二阶影响系数矩阵，它们仅是机构的结构参数、位置和姿态的函数，而与输入运动的速度和加速度和加速度无关，利用这些关系矩阵，建立了机构输入输出运动速度、加速度之间映射关系。在最后的实例中，给定机构结构参数和输入机构的参数，能求得机构在不同瞬时的全部8组数学解，统购回代机构约束方程，可以鉴别出满足约束条件的运动学解。由于运动学解仍有多组，在给定机构主动机构的运动后，为了得到运动平台的连续运动轨迹，必须遵守运动连续性条件，即以相邻的瞬时机构的位置和姿态变化量最小，从而得到运动平台的位置、姿态变化规律曲线，这些曲线可以用来鉴别机构对规定运动能否实现。通过输入输出之间的速度、加速度的影响系数关系矩阵，很容易的计算出运动平台的速度、加速度变化规律曲线。 关键词 并联机器人;动力学设计;;影响系数　　Abstract :three degrees of freedom for plane parallel structure of the robot, using the same conditions, and other sports bodies to establish the location of the constraint equations, through algebraic elimination, constant transformation, and other mathematical skills, etc. Elimination institutions bound by the location of variable equations, which are contained only campaign platform attitude angle of the triangle beyond equation, equivalent to an eight algebraic equations. In research institutions between the input and output speed and acceleration of mapping relations, a factor affecting the law, sports bodies are the first order, second-order effects coefficient matrix, which is only the structural parameters, location and function of attitude, and And enter the speed and acceleration of movement and has nothing to do acceleration, use of these relations matrix, the establishment of the institutions input-output speed, acceleration relations between the mapping. In the last example, a given institutional structure parameters and enter the parameters can be obtained at different institutions instantaneous all the eight groups of mathematics, EC to buy back the bodies constraint equations, can be identified to meet the constraints of the kinematics. Because there are still many kinematics of the group, active in a given body of the body after exercise, in order to get the campaign platform for trajectory, must abide by the condit