2-DOF仿生并联驱动机构分析.doc

文档介绍：
2-DOF 仿生并联驱动机构分析#
宗光华,于靖军,牛传猛
(北京航空航天大学机械工程及自动化学院)
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摘要:2-DOF 并联驱动机构凭借其运动方式的特殊性,提高了传统驱动机构在大负载、大
范围转动条件下的运动性能,具有广阔的仿生应用前景。Omni-Wrist III 是一种可实现类球
面运动的 2 自由度并联机构,具有结构对称,工作空间大等特点。基于其几何机构的特殊性,
建立了该机构的几何约束方程,推导出一种简化的动平台正、逆运动学模型,在此基础上得
到了各支链的运动学模型,该模型可用于结构组件设计的改进与控制模型的参数识别。
关键词:并联机构;仿生学;运动学;
中图分类号:TH113
Analysis of a 2-DOF Bionic Quasi-Sphere Parallel Platform
ZONG Guanghua, YU Jingjun, NIU Chuanmeng
(School of Mechanical Engineering and Automation, Beihang University)
Abstract: The 2-DOF parallel platform can greatly enhance the traditional platform pointing
capability under heavy load and large workspace conditions, and expand the application of parallel
platforms in bionic research field because of the particularity of movement pattern. Omni-Wrist III
is a quasi-sphere motion 2-DOF parallel platform has symmetric structure and large workspace.
The geometric constraint equations of this mechanism are established based on the particularity of
the geometric structure, the pact kinematics model of moving platform and four legs
are derived. The derived model will be useful to improve the design of the mechanical
components, the control algorithm of this manipulator.
Key words: Parallel mechanism; Biomimetics; Kinematic analysis
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0 引言
少自由度并联机构很好地继承了一般并联机构结构刚度大、承载能力高、运动惯性小、
无误差积累或误差积累较小、运动精度高、动态性能好、结构紧凑的特点,非常适合拓展仿
生领域的应用需求[1-6]。但是,目前所开展的研究多集中于