CAJ | 학술논문

研究了一种新型的6-DOF串并联机构,此串并联机构由一个5-DOF的并联机构串联一个转动副组成.建立了此串并联机构的运动学方程;进行位置反解,并提出一个求解算法--逐次搜索法;分析了机构的奇异位型,根据奇异性提出构型改进措施.通过构建一、二阶影响系数矩阵,对速度和加速度进行分析,基于MATLAB给出了数值仿真.
연구료일충신형적6-DOF천병련궤구,차천병련궤구유일개5-DOF적병련궤구천련일개전동부조성.건립료차천병련궤구적운동학방정;진행위치반해,병제출일개구해산법--축차수색법;분석료궤구적기이위형,근거기이성제출구형개진조시.통과구건일、이계영향계수구진,대속도화가속도진행분석,기우MATLAB급출료수치방진.
A new type of Series-parallel mechanism is studied in this paper.which consists of 5-DOF body with a rotary joint in series.The kinematics equations of the mechanism was established.The inverse-solution was done with an algorithm-Successive search method.The singular configurations.According to the singularity phenomenon the improyement was proposed.Velocity and acceleration were analyzed by constructing the first and second order influence coefficient matrixes，and a rumerial simulation was tested by MATLB.