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4-UPS-RPS空間5自由度并聯(lián)機構(gòu)運動學(xué)分析
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國家自然科學(xué)基金資助項目（51005138）、山東省優(yōu)秀中青年科學(xué)家科研獎勵基金資助項目(BS2012ZZ008)和山東科技大學(xué)杰出青年基金資助項目(2011KYJQ102)


Kinematics Analysis of 4-UPS-RPS Spatial 5-DOF Parallel Mechanism
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    摘要:

    提出了能實現(xiàn)三維轉(zhuǎn)動和二維移動的4-UPS-RPS空間5自由度并聯(lián)機構(gòu)，并對該機構(gòu)進行了運動學(xué)分析。4-UPS-RPS并聯(lián)機構(gòu)包含5條分支，其中4條分支為U-P-S（虎克鉸-移動副-球副）型結(jié)構(gòu)，1條分支為R-P-S(轉(zhuǎn)動副-移動副-球鉸)型結(jié)構(gòu)。建立了該機構(gòu)的位置反解數(shù)學(xué)模型，推導(dǎo)出了該機構(gòu)的速度雅可比矩陣和加速度分析表達式，求解了該機構(gòu)的位置反解、速度和加速度，并采用ADAMS軟件對機構(gòu)的運動學(xué)進行模擬仿真，仿真結(jié)果表明理論分析結(jié)果完全正確，為該并聯(lián)機構(gòu)的實際應(yīng)用奠定了理論依據(jù)。

    Abstract:

    A 4-UPS-RPS spatial 5-DOF parallel mechanism, which could achieve three rotational DOF and two translational DOF, was introduced, and its kinematics analysis was carried out. 4-UPS-RPS parallel mechanism included five limbs, where four limbs were types of universal joint-prismatical joint-spherical joint, and the other was type of revolution-prismatical joint-spherical joint. The reverse solution of position analysis for the parallel mechanism was presented. On this basis, the Jacobian matrix and acceleration equation were derived, and the inverse position, velocity and acceleration of this parallel mechanism were obtained. Then the virtual simulation of mechanism kinematics was implemented by using ADAMS software. The simulation results showed that the numerical calculation results were correct. The research could provide a theoretical basis to promote application of 4-UPS-RPS parallel mechanism. 

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陳修龍,孫先洋,鄧昱.4-UPS-RPS空間5自由度并聯(lián)機構(gòu)運動學(xué)分析[J].農(nóng)業(yè)機械學(xué)報,2013,44(8):257-261,267. Chen Xiulong, Sun Xianyang, Deng Yu. Kinematics Analysis of 4-UPS-RPS Spatial 5-DOF Parallel Mechanism[J]. Transactions of the Chinese Society for Agricultural Machinery,2013,44(8):257-261,267.

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  • 在線發(fā)布日期: 2013-07-19
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