| 引用本文: | 王宪平,戴一帆,李圣怡.一般机构的解耦运动.[J].国防科技大学学报,2002,24(2):85-90.[点击复制] |
| WANG Xianping,DAI Yifan,LI Shengyi.Decoupling Motion of Mechanism[J].Journal of National University of Defense Technology,2002,24(2):85-90[点击复制] |
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| 一般机构的解耦运动 |
| 王宪平, 戴一帆, 李圣怡 |
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(国防科技大学 机电工程与自动化学院,湖南 长沙 410073)
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| 摘要: |
| 运动解耦的机构容易控制，并且可以达到更高的运动精度。然而随着机构学不断发展，尤其是并联机构的出现，很多机构不具有运动解耦的性质。对于并联机构，可以得出结论，运动不解耦才是其本质特征。因此有必要研究一般机构实现的简单运动，并定义为解耦运动。解耦运动对机构的运动控制和轨迹规划都有一定意义。使用螺旋理论，给出了解耦运动的定义、分类，及机构存在解耦运动的必要条件和充分特例。最后通过一个二自由度转动机构的设计实例，综合了上述概念和方法。 |
| 关键词: 解耦运动 机构分析 机构综合 并联机构 |
| DOI： |
| 投稿日期：2001-11-19 |
| 基金项目: |
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| Decoupling Motion of Mechanism |
| WANG Xianping, DAI Yifan, LI Shengyi |
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(College of Mechatronics Engineering and Automation, National Univ. of Defense Technology, Changsha 410073, China)
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| Abstract: |
| Decoupled mechanisms are easy to control and apt to reach high accuracy. With the development of mechanism, especially the emergence of parallel mechanism, many ones don’t hold this merit. Especially, this merit is not an intrinsic property of parallel mechanisms. It's necessary to study their simple motions and name these motions decoupling motions. This kind of movement links very closely to motion control and pathway planning. By the use of screw theory, the definition, classification of decoupling motion, together with the necessary condition and several sufficient conditions for mechanism to realize this kind of motion are given. Finally a mechanism design example of a 2-DOF rotating mechanism is given as an example. It incarnates our research work on mechanism design and mechanism analysis. |
| Keywords: decoupling motion mechanism analysis mechanism design parallel mechanism |
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