混合驱动平面3-rrr机构的基础研究-basic research on hybrid drive plane 3 - rrr mechanism.docx

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混合驱动平面3-rrr机构的基础研究-basic research on hybrid drive plane 3 - rrr mechanism.docx

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混合驱动平面3-rrr机构的基础研究-basic research on hybrid drive plane 3 - rrr mechanism

BasicResearchonHybrid-DrivenPlanar3-RRRMechanismABSTRACTWangJunQing,WangAiLingToday,withtherapiddevelopmentofhightechnology,modernmachinehasputforwardhigherrequirements,suchastheflexibleoutput,onemachinewithmoreversatileuses,meetingtheneedsofincreasinglydiversefunctionsandsoon.Traditionalmechanismslackofflexibility,whichcanonlycompletethesingletask.Allservo-drivenrobotmechanismshavedisadvantageslikehighcostingandpoorcarryingcapacity,whilehavinggoodflexibility.Integratingwiththeadvantagesofboth,hybrid-drivenmechanismbecomesonehotspotofmodernmechanism.Hybrid-drivenmechanismsynthesizestheconstantspeedmotorandtheservomotorasthepowersourcethroughamultidegreeoffreedommechanism.Amongthem,theconstantspeedmotorprovidesthemainimputesandtheservomotorperformstheregulationrole.Throughouttheresearchsituation,currentresearchisfocusedontheplanar2-dofmechanismslikefive-barandseven-barmechanism,morethan3-dofmechanismisnotinvolved.Thispaperfirststudyhybrid-drivenplanar3-dofmechanism,themaincontentsinclude:Basedoncompatiblelinkcombinations,allpossiblebasicconfigurationsofplanar3-dofkinematicchainswerederived.Basedontherequirementsofhybrid-drivenmode,thekinematicchainswereselectedonebyone.Planar3-RRRmechanismwasdeterminedtobetheresearchobjectfinally.Thebasicresearchofkinematicanalysisonplanar3-RRRmechanismhadcompleted,includingthepositionandattitudesolution,theJacobianmatrix,workspaceanalysis.Theseconclusionsprovidethebasisforfurtherresearch.Thelinkagelengthconstraintconditionswhichmustbeconsideredondesigninghybrid-drivenplanar3-RRRmechanismwereputforward.Usingtheassemblabilityofplanarsingle-looplinkages,thecrankconditionswerestudied.Aftertheanalysisofsingularityof3-RRRmechanism,thegeometricconditionstoavoiddirectsingularpositionswerepresented.Afterthat,asimulationexampledemonstratedtheconclusions.Thetrajectoryplanningofhybrid-drivenplanar3-RRRmechanismwasstudied.Basedontheconclusionsofinversekinematicanalysis,usingthecubicsplinefunctiononpointtopointpathplanning,theservomotorrotationla