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一种二自由度并联平面机构的尺度综合

Dimensional Synthesis Design of a 2-DOF Parallel Planar Mechanism

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【Author】 WANG Bing~1,GAO Feng~2,PENG Bin-bin~3,YUN Hong-li~4,ZHANG Yong~4(1.Department of Mechanical Engineering, North China Institute of Astronautic Engineering, Langfang 065000,China;2.School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200030,China;3.Robotics Research Institute, Beijing University of Aeronautics and Astronautics, China;4.College of Mechanical Engineering,Yanshan University,China)

【机构】北华航天工业学院机械工程系；上海交通大学机械与动力工程学院；北京航空航天大学；燕山大学机械工程学院；燕山大学机械工程学院廊坊065000；上海； 200030；

【摘要】在确定机构装配方式基础上,求解了二自由度并联机构的位置正反解和速度雅克比矩阵。综合考虑机构工作空间和机构传动角,提出了一种机构尺寸设计的新方法。选择可操作度作为灵巧度评价指标,结合该指标对基于工作空间的尺度综合结果作进一步分析和验证。这个尺度综合方法有益于机构的设计与应用。更多还原

【Abstract】 After determining the assemble scheme, the closed forward and inverse solution and velocity Jacobin matrix of the two degree of freedom parallel mechanism are obtained. Based on two critical indexs: the workspace and driving-angle, a method is presented to determine the geometry parameters of the parallel mechanism. To choose the manipulability as an index for evalucting the flexibility and with which the dimansional synthesis resucts base on workspace are further analyzed and verified. This dimension synthesis method is great helpful for the applicaion and design of the mechanism.更多还原

【关键词】尺度综合；工作空间；灵巧度；
【Key words】 dimensional synthesis； workspace； manipalability；

【文献出处】机械设计与研究 ,Machine Design and Research , 编辑部邮箱 ,2005年02期

【分类号】TP11
【被引频次】21
【下载频次】450

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