CAJ | 학술논문

通过改变并联机构的拓扑结构,得到了一种具有空间四自由度的并联机构。根据位置关系方程,通过理论推导,得到了机构速度和加速度映射解析方程,同时求出了机构的一阶和二阶影响系数矩阵。综合分析了机构的运动学和动力学性能指标,得到了影响多种性能指标的敏感因素。考虑量纲的不同,将Jacobian矩阵分离,在动平台任务空间内,研究了决定速度和力、角速度和力矩的性能指标。提出了对Hessian矩阵采用＂分层＂研究的方式,在任务空间内,得到了各支链扰动对机构加速度和惯性力性能的影响程度。研究结果为机构的设计和优化以及控制策略的选择提供了理论依据。
통과개변병련궤구적탁복결구,득도료일충구유공간사자유도적병련궤구。근거위치관계방정,통과이론추도,득도료궤구속도화가속도영사해석방정,동시구출료궤구적일계화이계영향계수구진。종합분석료궤구적운동학화동역학성능지표,득도료영향다충성능지표적민감인소。고필량강적불동,장Jacobian구진분리,재동평태임무공간내,연구료결정속도화력、각속도화력구적성능지표。제출료대Hessian구진채용＂분층＂연구적방식,재임무공간내,득도료각지련우동대궤구가속도화관성력성능적영향정도。연구결과위궤구적설계화우화이급공제책략적선택제공료이론의거。
A spatial 4-DOF parallel manipulator was deduced in the event that the topology of parallel manipulator was changed.Based on the equation of position,the mapping analytic equation of velocity and acceleration was built by theoretical derivation,and simultaneously the first and second order influence coefficient matrixes were solved.Performance indexes of kinematics and dynamics were multianalyzed,and the factors that output perturbation affects the sensitivity of inputs perturbation were received.Taking different units into account,a matrix of Jacobian was detached,and then performance indexes of velocity,force,angular velocity and moment were analyzed in task workspace of the motion platform.A method of stratifiedly researching the matrix of Hessian was proposed in order to calculate perturbation of each limp differing in the degree in acceleration and inertial force performance indexes in task workspace of motion platform.The results provide theoretic proof for designing and optimizing the mechanism and choice of control strategy.