CAJ | 학술논문

提出一种分支含闭环双驱动单元、可实现混合输出的六自由度并联机构。分析了动平台混合运动时驱动分支的等效形式，以及独立位姿运动和振动时驱动分支的等效形式；分析了混合运动关于位姿运动输入和振动输入的位置反解，对振动输入的位置反解设计了基于机构运动特点的逐次逼近法；运用螺旋理论求得动平台混合运动时关于全体12个独立广义坐标的一、二阶影响系数，得到从广义输入到动平台旋量速度、加速度的线性映射；通过数值算例分别对位姿运动输入和振动输入的理论分析结果进行了验证，算例仿真表明，提出的两种双驱动输入分配计算规则均能得到确定的混合运动输出。
제출일충분지함폐배쌍구동단원、가실현혼합수출적륙자유도병련궤구。분석료동평태혼합운동시구동분지적등효형식，이급독립위자운동화진동시구동분지적등효형식；분석료혼합운동관우위자운동수입화진동수입적위치반해，대진동수입적위치반해설계료기우궤구운동특점적축차핍근법；운용라선이론구득동평태혼합운동시관우전체12개독립엄의좌표적일、이계영향계수，득도종엄의수입도동평태선량속도、가속도적선성영사；통과수치산례분별대위자운동수입화진동수입적이론분석결과진행료험증，산례방진표명，제출적량충쌍구동수입분배계산규칙균능득도학정적혼합운동수출。
A parallel mechanism that can accomplish 6 dimensional composite output was pro-posed,each leg of it had a closed-loop dual-drive unit.The equivalent form of one leg was analysed when the moving platform was under composite motion,so as the equivalent form of one leg corre-sponding to independent position and orientation motion and vibration.The inverse position solution a-bout position and orientation drive and vibration drive were analysed,for inverse position solution of vibration drive,a kind of successive approximation method was designed based on the motional fea-tures of mechanism.Using screw theory the first and second order influence coefficients of all the 12 general coordinates were obtained,so the linear mapping from general inputs to screw velocity and ac-celeration of moving platform was obtained.Theoretical analyses of position and orientation motion drive and vibration drive were verified by numerical examples,it is indicated by the numerical simula-tion that composite output can accomplish through the two rules presented for dual-drive distribution.