基于非瞬时支链位形设计的并联机构内部奇异消除方法研究

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依据螺旋理论系统分析了并联机构的约束奇异、驱动奇异和支链奇异,位于工作空间内部的约束奇异和驱动奇异的位形是对机构性能影响最为严重的位形。提出了一种基于非瞬时支链位形设计的并联机构内部奇异消除方法,以3-RRR型、4-RPTR型和3-RRRT型并联机构为例,系统阐述了该方法的设计过程。结果表明,除动平台和基平面重合的位形以外,该方法能够消除其他所有内部奇异位形。 Constraint singularity configuration, drive singularity configuration and branch singu- larity configuration were systematically discussed based on the screw theory, and it was emphasized that the constraint singularity configurations and drive singularity configurations existing within the workspace created the most severe effects on performance of the parallel mechanisms. And then, an inside singularity elimination method for parallel mechanisms based on non--instantaneous branch link configuration design was presented. Finally, the 3- RRR, 4--RPTR and 3--RRRT parallel mechanisms were taken as examples for systematically expatiating design course of the inside singular- ity elimination method. The results show that except for the configuration under which motion plat- form superposes base plane, the other inside singularity configurations can be eliminated entirely. The research fruit can provide a reference for the solution to the key problems on redundant actuation method.