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工作空间分析是机构设计及运动控制的基础,传统的分析方法限于理论计算,缺乏对机器实际安装效果的研究。该文基于运动学模型及支链运动约束方程,完成了一个4RRR冗余并联机构的支链优化设计。利用Newton-Raphson法和D-H法得到机构的运动学正解和逆解方程,通过分析机构全部5种支链构型下的运动约束,结合运动学模型得到各种构型下的实际工作空间,并依此得到了该4RRR机构的最优支链构型。研究表明:在机构运动学模型中添加构件运动约束方程,能模拟机构的真实运动,其工作空间的分析结果能够用于机构实际安装形式的优化,该方法是对传统的并联机构支链优化方法的有益补充。
Work space analysis is the basis of the design and motion control of the mechanism. The traditional analysis methods are limited to the theoretical calculation, which lacks the research on the actual installation effect of the machine. Based on the kinematic model and the constraint equation of branching motion, this paper completes the branch optimization design of a 4RRR redundant parallel mechanism. By using Newton-Raphson method and DH method, the kinematic positive solution and the inverse solution equation of the mechanism are obtained. By analyzing the kinematic constraints of all five kinds of branch configurations of the mechanism and combining with the kinematics model, the actual working space under various configurations is obtained. In this way, the optimal branched configuration of the 4RRR mechanism is obtained. The results show that adding kinematic constraint equations to the kinematic model can simulate the real motion of the mechanism, and the analysis results of the working space can be used to optimize the actual installation of the mechanism. This method is a new method to optimize the traditional parallel mechanism, Beneficial supplement.