一种欠约束丝牵引并联机构工作空间的分析方法

作者：桑 建，陈志平*，张巨勇，刘 睿 日期：2010-09-08/span> 浏览：3533 查看PDF文档

一种欠约束丝牵引并联机构工作空间的分析方法

桑 建，陈志平*，张巨勇，刘 睿

（杭州电子科技大学 机械工程学院，浙江 杭州 310018）

摘要：针对光学悬丝吊架试验台系统应用的六丝牵引的并联机构，提出了运用维数缩减法求解欠约束六自由度并联机构工作空间的方法，并利用提出的衡量工作空间质量的评价指标ks，通过Matlab仿真分析了机构结构参数及预紧力系数等对其工作空间的影响趋势，最后经过多次计算对比，得出机构各参数的最优组合，获得最大工作空间，从而为下一步的实际测试试验奠定基础。
关键词：六自由度；欠约束并联机构；工作空间；影响因素
中图分类号：TH112;TH122;TH123
文献标识码：A文章编号：1001-4551(2010)08-0052-04

Analytic method of the workspace of an incompletely restrained wiredriven parallel mechanism
SANG Jian, CHEN Zhiping, ZHANG Juyong, LIU Rui
（College of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, China）

Abstract: According to the structure of a 6 DOFs incompletely restrained parallel mechanism(IRPM) driven by six wires and designed in the system of optical wiredriven hanging bench, a proper way applying theory of dimension reduction to get the workspace of this mechanism was presented. Then a parameter ks used to evaluate the quality of the workspace was proposed, some factors which affect the mechanisms workspace containing structure parameter of mechanism and preload index were also analyzed by Matlab simulation. Finally, the optimum parameters and the largest workspace are gotten by many times calculation. The conclusion will be based for the further testing experiment.
Key words: 6 DOFs; incompletely restrained parallel mechanism(IRPM); workspace; factors