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并聯(lián)式球面變胞機(jī)構(gòu)及其完整雅可比矩陣
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國(guó)家自然科學(xué)基金資助項(xiàng)目(50675154、51275352)和天津市應(yīng)用基礎(chǔ)及前沿技術(shù)研究計(jì)劃資助項(xiàng)目(09JCYBJC04600)


Parallel Spherical Metamorphic Mechanism and Its Complete Jacobian Matrix
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    摘要:

    提出了一種球面變胞機(jī)構(gòu),。該機(jī)構(gòu)采用并聯(lián)連接方式,,由動(dòng)平臺(tái),、靜平臺(tái),、3個(gè)環(huán)形支鏈和1個(gè)中間變胞支鏈組成,,通過變胞支鏈提供不同約束,,機(jī)構(gòu)可演變?yōu)檎?gòu)態(tài)和變胞構(gòu)態(tài)兩種機(jī)構(gòu)形式,。正常構(gòu)態(tài)時(shí),,動(dòng)平臺(tái)相對(duì)靜平臺(tái)具有3個(gè)轉(zhuǎn)動(dòng)自由度,,等效于3自由度球面機(jī)構(gòu);變胞構(gòu)態(tài)時(shí),,動(dòng)平臺(tái)具有一個(gè)額外的徑向移動(dòng)自由度,。以螺旋理論為基礎(chǔ),,首先分析機(jī)構(gòu)的自由度數(shù)目和性質(zhì);其次,,構(gòu)建機(jī)構(gòu)的運(yùn)動(dòng)子矩陣和約束子矩陣,,并將約束子矩陣和運(yùn)動(dòng)子矩陣聯(lián)立,建立完整的6×6雅可比矩陣,;最后,,分析雅可比矩陣的秩,得到機(jī)構(gòu)產(chǎn)生奇異位形的條件,,研究奇異位形的類型,,提出避免發(fā)生奇異的方法,為機(jī)構(gòu)設(shè)計(jì)提供理論依據(jù),。

    Abstract:

    A spherical metamorphic mechanism with parallel structure was proposed. It consisted of a moving platform, a base plate and four connecting legs between moving platform and base plate. Three of these legs had the same structure named circle legs and the other one named middle leg. Spherical metamorphic mechanism could transform to normal configuration and metamorphic configuration respectively with the change of constraint applied by middle leg. The moving platform was in possession of three revolute degrees of freedom which equivalent to spherical joint and extra translational freedom in the direction of radius. Based on screw theory, the mobility of this mechanism was analyzed firstly. Secondly, the constraint sub-matrix and actuation sub-matrix were obtained and the complete Jacobian matrix was established by integrating these two sub-matrices. In the end, the singular conditions of spherical metamorphic mechanism were analyzed by investigating the ranks of the complete Jacobian matrix and methods used to avoid the occurrence of singularities were given which were propitious to mechanical design.

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暢博彥,金國(guó)光,王艷.并聯(lián)式球面變胞機(jī)構(gòu)及其完整雅可比矩陣[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2013,44(10):260-265. Chang Boyan, Jin Guoguang, Wang Yan. Parallel Spherical Metamorphic Mechanism and Its Complete Jacobian Matrix[J]. Transactions of the Chinese Society for Agricultural Machinery,2013,44(10):260-265.

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  • 在線發(fā)布日期: 2013-12-06
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