含串联输入支链的2UPS―RPU并联机构奇异性分析

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Using the MK-20 ABS hybrid simulation test bench in the state key laboratory of automobile safety and energy in Tsinghua University, we focused on the control strategy of ABS baekflow pump to do experimental research. The effects of motor duty factor and cycle on ABS baekflow pump motor noise were analyzed, as well as the influence on the pressure in the brake wheel cylinder. According to the test results, the motor control poliees was proposed. This study could lay the theoretical foundation for putting forward the methods of reducing the ABS system noise.奇异性会对机构的工作性能产生不良影响，以含串联输入支链的2UPS--RPU并联机构为研究对象，利用矢量法及虚功原理对机构进行位置和速度分析，得出完整雅可比矩阵，通过分析雅可比矩阵秩的变化，推出产生奇异位置的条件，最终得到了机构的结构参数与机构奇异性的关系，提出了消除奇异性的方法，对2UPS―RPU并联机构的设计和应用具有十分重要的理论和现实意义。此研究方法对并联机构的奇异性分析具有通用性。