| 冗余驱动消除并联机构奇异研究 |
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| 引用本文： | 白志富,韩先国,陈五一.冗余驱动消除并联机构奇异研究[J].航空学报,2006,27(4):733-736. |
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| 作者姓名： | 白志富 韩先国 陈五一 |
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| 作者单位： | 北京航空航天大学,机械工程及自动化学院,北京,100083;北京航空航天大学,机械工程及自动化学院,北京,100083;北京航空航天大学,机械工程及自动化学院,北京,100083 |
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| 摘 要： | 对空间并联机构的奇异性和冗余驱动消除机构奇异进行了研究。以Park关于奇异的分类为基础,明确指出了冗余驱动能够消除机构驱动奇异的原因,给出了冗余驱动个数与奇异空间降维关系的比较严格的数学推导过程。还对一种3自由度冗余并联机构的奇异性进行了分析,指出了其奇异空间的形状,并对冗余驱动消除奇异的效果进行了研究。其结果证实了冗余驱动与奇异降维之间的关系,对于进一步提高并联机构的性能提供了参考。
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| 关 键 词： | 并联机构 冗余驱动 奇异位形 |
| 文章编号： | 1000-6893(2006)04-0733-04 |
| 收稿时间： | 2005-03-04 |
| 修稿时间： | 2005年3月4日 |
Study on Elimination Singularities of Parallel Mechanism by Actuation Redundancy |
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| BAI Zhi-fu,HAN Xian-guo,CHEN Wu-yi.Study on Elimination Singularities of Parallel Mechanism by Actuation Redundancy[J].Acta Aeronautica et Astronautica Sinica,2006,27(4):733-736. |
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| Authors: | BAI Zhi-fu HAN Xian-guo CHEN Wu-yi |
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| Institution: | School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China |
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| Abstract: | The singularity of spatial parallel mechanism and its elimination using actuation redundancy are described.Based on Park's classification of singularities,this paper presents the explicit reason of removal singularities by actuation redundancy.The near strictly mathematical derivation between the number of actuators and the dimensional reduction of singularities is drawn.In addition,the singularity analysis of a 3-DOF parallel mechanism is carried out and the shape of singular space is derived.Also,the effectiveness of this singularity removing is studied.The results verify the relation between actuation redundancy and singularity reduction,which provides a reference for further improving the performance of parallel mechanisms. |
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| Keywords: | parallel mechanism actuation redundancy singularity |
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