舵叶固定式液压球形关节运动学及性能分析

针对球面运动机构驱动方式问题,提出了一种新型的二自由度液压驱动球面运动关节机构,该机构利用超全周转动马达及舵叶摆动马达作为驱动,采用了滑轨支撑框架位置测量系统,可以实现超全周转动;给出了两驱动马达各自的油路设计方案,在机构的不同部位采取了合理的密封方法;由机构的工作原理推导了正逆运动学方程及速度雅可比矩阵,得出了机构的奇异位形;分析了机构的灵巧度性能指标,通过仿真得到了机构性能较优时的工作空间.该球形关节机构具有结构紧凑、运动精度高、负载大、并且能够实现全方位输出的特点.

Kinematics and performance analysis of rudder blade fixed hydraulic spherical joint

In view of the problem of driving method for the spherical motion mechanism, a new type of hydraulic drive spherical joint with two degrees of freedom was proposed. The joint mechanism used a full cycle rotating motor and a rudder blade swing motor as drive, adopted a measuring system of slide support frame, and could achieve a full rotation. The oil circuit design programs for the two driving motor were given respectivly. The reasonable sealing method was adopted in different parts of the mechanism. Based on the mechanism theory, the forward and inverse kinematics equations and the velocity Jacobian matrix were derived and the singular configuration of the mechanism was found. Through the analysis of dexterity performance index of the mechanism, the workspace was found by simulation when the mechanism was in a good performance. The spherical joint mechanism has the following characteristics, compact structure, high motion accuracy, large load, and it can complete the omni-directional output.