调平机构自由度分析AnalysisofDegreeofFreedomforLeveling.PDFVIP

调平机构自由度分析 调平机构自由度分析 Analysis of Degree of Freedom for Leveling Mechanisms 王大志　何凯　杜如虚 摘 要 调平机构是精密仪器领域广泛应用的微动调姿装置。从机构学的角度看，调平机构属于空间并联机构。由于支撑 运动链之间的运动耦合，调平机构的运动较为复杂，自由度也并不直观。基于机构自由度分析理论，分析了两种常用调平 机构的自由度和运动特点，并指出这两种调平机构的支撑运动链均为零终端约束运动链。在3输入作用下，这两种调平机 构实际是6自由度机构，分析表明了调平机构的自由度和瞬时运动状态，为调平机构的方案设计和结构优化提供了依据。 关键词 调平机构；并联机构；自由度；约束；螺旋运动 ABSTRACT The leveling mechanism is widely used as a micro-motion device adjusting posture in the precise instrument. In terms of the theory of mechanisms, the leveling mechanism is a spatial parallel mechanism. Its motion is complicated and degree of freedom is not direct due to the motion coupling among supporting kinematic chains in leveling mechanisms. Based on analytical theory of degree of freedom for mechanisms, the paper analyzes degree of freedom and motion characteristics of two conventional leveling mechanisms, and points out that supporting kinematic chains in the two leveling mechanisms are zero terminal constraint. It is seen that the two leveling mechanisms actually are six degrees of freedom mechanism under three inputs. The analysis clearly shows degree of freedom of leveling mechanisms and instantaneous kinematic conditions. In addition, the paper provides the basis for the scheme design and structural optimization of leveling mechanisms. KEYWORDS leveling mechanisms; parallel mechanisms; degree of freedom; constraint; screw motion 1 Introduction he leveling mechanism is widely used as a micro systemically introduced the kinematic geometry of Tmotion device in the precise instrument which mechanisms and further developed the screw theory [12]; requires leveling adjustment, for example, theodolites, Jack Phillips utilized the screw theory to discuss degree