| 新型二自由度移动并联机构设计 |
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| 引用本文： | 柳建飞,张伟中.新型二自由度移动并联机构设计[J].华南农业大学学报(社会科学版),2017,35(2):63-65. |
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| 作者姓名： | 柳建飞 张伟中 |
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| 作者单位： | 浙江理工大学机械与自动控制学院，浙江杭州 310018： |
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| 基金项目： | 浙江省高校重中之重学科开放基金资助（ZSTUMEOIA07）。 |
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| 摘 要： | 针对工业设备快速抓取物件的需求，基于并联机构具有的优点，提出了一种二自由度可快速移动的并联机构。
对该机构的运动学进行分析研究，创建该平面二自由度的运动学模型，利用勾股定理推算出该机构的正反解，继而得到
雅克比矩阵。最后利用杆件约束等条件得到该机构的工作空间。通过SolidWorks和MATLAB仿真软件求正反解验证了
设计的正确性。该并联机构的横向位移较大，满足设计要求。
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| 关 键 词： | 并联机构 运动学分析 工作空间 雅克比矩阵 SolidWorks软件 MATLAB软件 |
Mechanism Design of Novel Parallel with 2-DOF |
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| LIU Jianfei,ZHANG Weizhong.Mechanism Design of Novel Parallel with 2-DOF[J].Journal of South China Agricultural University:Social Science Edition,2017,35(2):63-65. |
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| Authors: | LIU Jianfei ZHANG Weizhong |
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| Institution: | School of Mechanical Engineering and Automatic , Zhejiang Sci-Tech University , Hangzhou 310018 , China |
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| Abstract: | According to the need of industrial equipment grabing objects quickly and the advantages of parallel
mechanism, a new kind of parallel mechanism with 2-DOF was studied aiming at the characteristics of catching things
fast. Kinematic analysis was studied. The kinematic model of the mechanism was setting up, and the forward and
inverse kinematics were solved by the Pythagorean theorem. The Jacobian matrix was derived. The workspace which
conforms to the actual constraint conditions was obtained. The correctness of the forward and inverse kinematics was
verified by SolidWorks and MATLAB simulation software. The parallel mechanism has a larger horizontal displacement,
and it can satisfy the demand. |
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| Keywords: | parallel mechanism kinematic analysis workspace Jacobian matrix SolidWorks software MATLAB software |
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