含恰约束支链的冗余驱动并联机构性能分析
Performance analysis of a redundantly actuated parallel manipulator with suitable constraint branch

摘要 针对航空航天领域大型异构件复杂曲面的高速铣削加工的任务要求,提出了一种新型1T2R的三自由度含恰约束支链的冗余驱动4-PUS-UP并联机构.对并联机构进行运动学位置逆解，求该机构的驱动雅可比矩阵和约束雅可比矩阵，进而构建量纲一致的雅可比矩阵.引入条件数、运动/力传递性能和刚度性能评价指标.通过算例绘制3-PUS-UP并联机构和该冗余驱动并联机构的性能分布图，并计算全域性能指标.结果表明：该冗余驱动并联机构的运动学性能优于3-PUS-UP并联机构，具有更好的工程应用前景.
Abstract：This paper presents a novel 1T2R three-degree of freedom (DOF) redundantly actuated 4-PUS-UP parallel manipulator with suitable constraint branch that can be employed to high-speed milling for large heterogeneous complex structural component in aerospace field. Firstly, the inverse kinematics of the parallel manipulator is carried out, and driving and constraint Jacobian matrix are established respectively, and then the homogeneous dimensional Jacobain matrix is obtained. Secondly, the condition number, motion/force transmission performance and stiffness index are involved. Through some numerical examples, atlas of the performance indices between 3-PUS-UP and redundantly actuated parallel manipulator are depicted, and the global performance index are calculated. The results show that the proposed manipulator in this paper has more superior kinematic performance than the 3-PUS-UP parallel manipulator and the former owns good prospect in engineering application.