3-CRR型并联机构运动学与奇异性分析-中南大学学报.PDFVIP

第 48 卷第 5 期 中南大学学报( 自然科学版) Vol.48 No.5 2017 年 5 月 Journal of Central South University (Science and Technology) May 2017 DOI: 10.11817/j.issn.1672-7207.2017.05.010 3-CRR 型并联机构运动学与奇异性分析 1, 2 1, 2 1, 2 刘知辉 ，牛军川 ，周一群 (1. 山东大学 机械工程学院，山东 济南，250061； 2. 山东大学 高效洁净机械制造教育部重点实验室，山东 济南，250061) 摘要：对一种典型的具有三平移自由度的 3-CRR 型并联机构进行正、逆运动学求解，讨论该类型并联机构的工作 空间，利用虚功原理研究该型机构运行时在动平台承受固定载荷情况下主动关节处的受力情况，定义雅克比矩阵 转置矩阵的∞−范数作为评价 3-CRR 型并联机构承载能力与运动精度性能的指标，通过设定该指标的许用值，可 得到 3-CRR 型并联机构性能不能满足工作要求的区域，避开该区域即可成功避开机构的奇异点，使得 3-CRR 型 并联机构工作于正常状态，对其他并联机构的设计和综合具有指导意义。 关键词：并联机构；工作空间；奇异；虚功原理 中图分类号：TH113.2 文献标志码：A 文章编号：1672−7207(2017)05−1190−08 Kinematics and singularity analysis of 3-CRR parallel mechanism LIU Zhihui1, 2, NIU Junchuan1, 2, ZHOU Yiqun1, 2 (1. School of Mechanical Engineering, Shandong University, Jinan 250061, China; 2. Key Laboratory of High Efficiency and Clean Mechanical Manufacture, Shandong University, Jinan 250061, China) Abstract: A classical parallel 3-CRR mechanism with 3 degrees of freedom was presented, and its forward and inverse kinematics were derived respectively. Furthermore, the workspace was studied and illustrated graphically. The relationship between the force applied on the moving platform and the resultant force on the active joints was studied by the principle of virtual work. The infinite norm of the transpose of the Jacobin matrices was defined as the index to evaluate the capacity of carrying and the kinematic accuracy