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并联机构机械臂具有工作空间小、运动学和动力学运动特性复杂的缺点。基于优化技术,各种并联机器人运动综合技术只能相对地提高机械臂的运动性能,不能保证一定能得到满足实际要求的设计结果。本文提出了机构的动态重构思想,并以五杆并联机械臂为具体对象,研究了机构运动学各向同性的最优综合设计问题,指出可重构并联机构的两种运动阶段:正常运动阶段和机构重构运动阶段,这两个运动阶段可以采用统一的运动性能评价方法进行研究,从理论和方法上指出了一条从本质上提高并联机构运动性能的方法,以平面五杆并联机构为对象给出了计算实例和具体方法。
Parallel manipulator arm with a small working space, kinematic and kinematic kinematic characteristics of the complex shortcomings. Based on the optimization technique, all kinds of parallel robot kinematic synthesis technology can only improve the movement performance of the manipulator relatively, and can not guarantee the design result that can meet the actual requirement. In this paper, the idea of dynamic reconfiguration of the mechanism is proposed. With the five-bar parallel manipulator as a specific object, the optimal integrated design of the isokinetic mechanism is studied. The two phases of the reconfigurable parallel mechanism are pointed out: normal motion Stage and mechanism reconstruction movement stage, the two stages of exercise can be used to study a unified sports performance evaluation method, the theory and method pointed out a way to essentially improve the parallel mechanism kinematics, with a planar five parallel mechanism The object gives the calculation example and the concrete method.