【摘要】 奇异位形严重影响Gough-Stewart并联机构的性能,有必要得到机构无奇异工作空间的分布,使机构在工作过程中避免出现奇异位形。基于机构的雅可比矩阵,得到机构位于给定姿态时的位置奇异轨迹表达式。利用机构位置反解建立机构的约束位置空间求解方法。综合考虑机构奇异位形影响,进一步得到机构无奇异位置空间。上述位置空间的求解方法可普遍应用于任意复杂形状的并联机构工作空间求解。研究进一步丰富了并联机构工作空间求解理论,并对机构奇异规避等问题的研究具有重要的参考价值。更多还原

【Abstract】 Singular configuration affects the performance of the Gough-Stewart parallel mechanism seriously. It is necessary to obtain the distributing chart of the parallel mechanism singularity-free workspace, which can guarantees the mechanism avoid the singularities. Based on the Jacobian matrix, the expression for representing the position-singularity locus for a constant orientation is developed. The method for the constraint position workspace determination is established by using the inverse displacement analysis. The position singularity-free workspace is obtained by synthetically considering the influence of the singularities of the mechanism. The method for the position workspace determination can be widely used in the determination of the workspace with arbitrary complex shape. The exploration further expands the workspace determination theory of the parallel mechanisms, and has important reference value for the singularity avoidance analysis.更多还原