4-UPS-UPU并联坐标测量机的灵巧度研究

• 论文 •

4-UPS-UPU并联坐标测量机的灵巧度研究

陈修龙,高庆,赵永生

1.山东科技大学机电学院,山东青岛266590；2.燕山大学机械学院,河北秦皇岛066004

出版日期:2012-06-15 发布日期:2012-06-25

Dexterity measures of 4-UPS-UPU parallel coordinate measuring machine

CHEN Xiu-long, GAO Qing, ZHAO Yong-sheng

1.College of Mechanical and Electronic Engineering, Shandong University of Science and Technology, Qingdao 266590, China; 2.College of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China

Online:2012-06-15 Published:2012-06-25

摘要/Abstract

摘要： 为了完成新型五自由度４－虎克铰－移动副－球铰／虎克铰－移动副－虎克铰并联式坐标测量机机构的灵敏度分析，建立了该测量机机构的雅克比矩阵，并推导出了其无量纲雅克比矩阵，得到了该机构7个不同的灵巧度指标。在此基础上，定义了评价不同位形下灵巧度的综合灵巧度系数指标，并分别研究了不同灵巧度评价指标在工作空间内的分布规律。以上研究为该测量机机构的优化尺度综合和轨迹规划奠定了理论基础。

关键词: 并联坐标测量机, 雅克比矩阵, 灵巧度

Abstract: To complete the sensitivity analysis of a novel 5-Degrees of freedom 4-Universal joints-prismatic Pairs-Spherical joints/Universal joints-prismatic Pairs-Universal joints(4-UPS-UPU)Parallel Coordinate Measuring Machine(PCMM), the Jacobian matrix for this machine was established, and its dimensionless Jacobian matrix was derived. On this basis, seven dexterity indexes such as linear velocity dexterity index, angular velocity dexterity index, force dexterity index, moment dexterity index, average conditional number, the smallest singular value and operation were obtained. By analyzing dexterity measures of PCMM, comprehensive dexterity coefficient which was used to evaluate the dexterity of various configurations was defined. And the distribution of different dexterity measures in the workspace was analyzed respectively. The above researches provided important theoretical base of dimensional synthesis and trajectory planning for PCMM.

Key words: parallel coordinate measuring machine, Jacobian matrix, dexterity, configurations

中图分类号:

TH113

陈修龙,高庆,赵永生. 4-UPS-UPU并联坐标测量机的灵巧度研究[J]. .

CHEN Xiu-long, GAO Qing, ZHAO Yong-sheng. Dexterity measures of 4-UPS-UPU parallel coordinate measuring machine[J]. .