| 用于飞机装配的3-S—R机构运动学与奇异分析 |
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| 作者姓名： | 王 杰 张 霖 田 威 |
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| 作者单位： | 南京航空航天大学机电学院,江苏 南京,210016;南京航空航天大学机电学院,江苏 南京,210016;南京航空航天大学机电学院,江苏 南京,210016 |
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| 基金项目： | 中航工业创新基金资助项目(2010E13219); 江苏省科技支撑计划项目(BE2011178,BE2012171). |
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| 摘 要： | 针对飞机柔性装配系统高精度、大作业空间的要求,以3-SPR并联机构为研究对象,运用螺旋理论分析该机构的自由度特性并建立约束螺旋,进而求得机构的雅可比矩阵。通过对雅可比矩阵的分析,明确机构的奇异位形。根据并联机器人机构学理论建立该机构的位置逆解模型,推导出位置逆解的显式解答。利用运动仿真软件对机构进行运动仿真,仿真结果验证了理论分析的正确性。
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| 关 键 词： | 飞机装配 3-SPR 并联机构 螺旋理论 运动仿真 |
| 收稿时间： | 2014/1/20 0:00:00 |
Kinematics and singularity analysis of 3-SP-R parallel mechanism for aircraft assembly |
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| Authors: | Wang Jie Zhang Lin and Tian Wei |
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| Institution: | College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China |
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| Abstract: | In light of high precision and large workspace requirements of flexible aircraft assembly ,this paper ,with 3-S P-R parallel mechanism as the research object ,used the screw theory to analyze the mechanism mobility and establish the constraint screw .On this basis ,it obtained the Jacobian matrix of the mechanism .Through the analysis of the Jacobian matrix ,it identified the singular form of the mechanism and built the inverse kinematic model according to the theory of parallel robotic mecha-nism ,by w hich it deduced the explicit solution to inverse kinematics .Simulation of the mechanism with motion simulation software has verified the correctness of theoretical analysis . |
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| Keywords: | 3-SP-R aircraft assembly 3-S P-R parallel mechanism screw theory motion simulation |
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