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6_PUS并联机构奇异判据推导与奇异性分析

DOI: 10.6041/j.issn.1000-1298.2012.12.042

Keywords: 并联机构,奇异性,奇异域,雅可比矩阵,力螺旋

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Abstract:

根据6_PUS并联机构的力螺旋平衡方程，采用支链力分解方法推导了该机构的力雅可比矩阵，进而得到其运动雅可比矩阵。由运动雅可比矩阵得到了6_PUS并联机构发生奇异的条件，并以奇异条件为基础归纳了该机构二类奇异的几何特征。为了便于在全工作空间中研究机构的奇异位姿，提出了一种更能反映机构运行需求的奇异域概念，作为研究机构奇异位姿和避免奇异的基础，建立了奇异域的数学表达式。通过仿真研究获得了6_PUS并联机构在全工作空间内2类奇异域的分布，提出了避免机构进入奇异域和发生奇异的方法，为该机构的设计提供了参考。

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