| 空间转动3-SPS-S并联机构运动学性能分析 |
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| 引用本文： | 张艳伟,韦斌,王南,谢立臣.空间转动3-SPS-S并联机构运动学性能分析[J].农业机械学报,2012,43(4):212-215,207. |
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| 作者姓名： | 张艳伟 韦斌 王南 谢立臣 |
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| 作者单位： | 1. 河北工程大学机电工程学院,邯郸,056038
2. 河北工程大学装备制造学院,邯郸,056038 |
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| 基金项目： | 国家自然科学基金资助项目（51075118）和河北省自然科学基金资助项目（E2010001010） |
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| 摘 要： | 提出了将空间三维转动3-SPS-S并联机构作为隧道管片安装机器人的微调机构,对该机构进行了运动学性能分析。在建立机构运动学模型,求解机构的位置逆解及其雅可比矩阵基础上,建立了局部刚度、局部灵活度和驱动性能3项性能评价指标。结合具体应用对该机构进行了运动性能评价。分析结果表明该机构具有良好的运动性能,能满足工程需要。
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| 关 键 词： | 并联机构 运动学 刚度 灵活度 驱动性能 |
Kinematic Performance Analysis of 3-SPS-S Spatial Rotation Parallel Mechanism |
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| Zhang Yanwei
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Wei Bin
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Wang Nan
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Xie Lichen.Kinematic Performance Analysis of 3-SPS-S Spatial Rotation Parallel Mechanism[J].Transactions of the Chinese Society of Agricultural Machinery,2012,43(4):212-215,207. |
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| Authors: | Zhang Yanwei Wei Bin Wang Nan Xie Lichen |
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| Institution: | Hebei University of Engineering;Hebei University of Engineering;Hebei University of Engineering;Hebei University of Engineering |
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| Abstract: | According to practical requirements, a 3-SPS-S parallel manipulator mechanism was proposed to be rotation fine-tuning manipulator in shield tunneling machines. Also the kinematics of the mechanism was investigated. Furthermore, the local stiffness, local dexterity and driving force which were important factors for evaluating the performance of the mechanisms on the basis of kinematic model, inverse kinematics and Jacobian matrix were investigated. The kinematic performance of the mechanism was evaluated according to the specific requirements. The results showed that the proposed mechanism had good kinematic performances and could be used in fields like shield tunneling machines. |
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| Keywords: | Parallel manipulator Kinematics Stiffness Dexterity Driving performance |
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