全部 标题 作者
关键词 摘要

OALib Journal期刊
ISSN: 2333-9721
费用:99美元

查看量下载量

相关文章

更多...

舵叶随动式液压球形关节运动学及性能分析

DOI: 10.15918/j.tbit1001-0645.2015.04.007

Keywords: 球形关节 液压驱动 超全周马达 灵巧度 全域性能指标

Full-Text   Cite this paper   Add to My Lib

Abstract:

针对球面运动机构驱动方式问题,提出了一种新型液压驱动球形关节机构,该机构利用超全周转动马达及舵叶摆动马达作为驱动,可以实现超全周转动;由机构学理论推导了正逆运动学方程及雅克比矩阵,得出了机构的奇异位形;分析了机构的灵巧度性能指标及惯性力全域性能指标,通过仿真找到了机构性能较优时的结构参数. 该关节机构具有结构紧凑、低耦合、负载大并且能够实现全方位输出的特点

References

[1]  Chablat D,Angeles J.The computation of all 4R serial spherical wrist with an isotropic architecture[J]. Journal of Mechanical Design,ASME, 2003,125(2):275-280.
[2]  Chiang C H. On the classification of spherical four-bar linkages[J]. Mechanism and Machine Theory, 1984,19(3):283-287.
[3]  Karouia M, Herr J M. Asymmetrical 3-dof spherical parallel mechanisms[J]. European Journal of Mechanics A/Solids, 2005,24(1):47-57.
[4]  Lee K M, Pei J, Roth R. Kinematic analysis of a three-degrees-of-freedom spherical wrist actuator[J]. Mechatronics, 1994,4(6):581-605.
[5]  Kahlen K. Control of multi-dimensional drives with variable pole pitch[C]//Proceedings of The 2002 IEEE Conference on Industry Applications. [S.l.]: IEEE, 2002:2366-2370.
[6]  王亮,胡永杨,方守龙.轴向串联式超全周转动液压马达:中国,CN1018583-69A[P].2010-10-13. Wang Liang, Hu Yongyang, Fang Shoulong. Tandem axial rotation hydraulic motor over the whole week China,CN10-1858369A[P]. 2010-10-13.(in Chinese)
[7]  Craij John J.机器人学导论[M].北京:机械工业出版社,2006:33-36,115-120. Craij John J. Introduction to robotics[M]. Beijing: China Machine Press, 2006:33-36,115-120. (in Chinese)
[8]  黄真,孔令富,方跃法.并联机器人机构学理论及控制[M].北京:机械工业出版社,1997:72-88,228-241. Huang Zhen,Kong Lingfu,Fang Yuefa. Parallel robot mechanism and control theory[M]. Beijing: China Machine Press, 1997:72-88,228-241.(in Chinese)
[9]  Guo X J, Zhu S J. Acceleration and dexterity performance indices for 6-dof and lower mobility parallel mechanism[C]//Proceedings of Design Engineering Technical Conferences and Computers and Information in Engineering Conference. [S.l.]: ASME, 2004:251-255.
[10]  杨育林,黄世军,刘喜平.2-RUUS机构动力学性能分析[J].机械工程学报,2009,45(11):1-9. Yang Yulin, Huang Shijun, Liu Xiping. Analysis of dynamic performance of 2-RUUS mechanism[J]. Journal of Mechanical Engineering, 2009,45(11):1-9. (in Chinese)

Full-Text

Contact Us

service@oalib.com

QQ:3279437679

WhatsApp +8615387084133