| 基于运动约束解过约束并联机构变形协调方程 |
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| 引用本文： | 韩先国,陈五一.基于运动约束解过约束并联机构变形协调方程[J].力学与实践,2005,27(3):65-68. |
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| 作者姓名： | 韩先国 陈五一 |
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| 作者单位： | 北京航空航天大学机械工程及自动化学院,北京,100083 |
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| 基金项目： | 国家自然科学基金项目(50375010)资助． |
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| 摘 要： | 提出利用运动约束关系来间接求解过约束并联机构变形协调方程．首先介绍了该方法的原理，接着分别针对平面和空间过约束并联机构，详述该方法的解决步骤，结果验证了该方法的正确性，从中还可看出该方法在求解复杂过约束并联机构时非常简洁，最后介绍了采用该方法解决多度过约束问题．
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| 关 键 词： | 过约束 并联机构 变形协调方程 运动约束 力学模型 |
| 修稿时间： | 2004年7月5日 |
THE METHOD TO SOLVE THE COMPATIBILITY EQUATION OF DISTORTION OF OVER CONSTRAINT PARALLEL MANIPULATOR BASED ON KINEMATIC CONSTRAINT |
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| HAN Xianguo,Chen Wuyi.THE METHOD TO SOLVE THE COMPATIBILITY EQUATION OF DISTORTION OF OVER CONSTRAINT PARALLEL MANIPULATOR BASED ON KINEMATIC CONSTRAINT[J].Mechanics and Engineering,2005,27(3):65-68. |
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| Authors: | HAN Xianguo Chen Wuyi |
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| Abstract: | The main task of mechanical analyses on over constraint mechanism is the solution of the compatibility equation of distortion, but it is difficult to obtain the solution directly because its direct kinematics is not completely established. A method to solve the compatibility equation of distortion indirectly is put forward based on the kinematic constraint relation. The principle and the complete procedures about the planar and the space mechanisms are given, respectively. The results show that the method is effective especially for complicated over constraint parallel manipulator. At last, how to use the method to solve the multi-degree over constraint mechanism is discussed. |
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| Keywords: | over constraint parallel mechanism distortion compatibility relation kinematic constraint |
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