带有约束支链的二自由度绳牵引并联机构的运动性能分析-机械工程专业论文.docxVIP

????????????????????????? KINEMATICS ANALYSIS OF A TWO DOF WIRE-DRIVEN PARALLEL MECHANISM WITH A CONSTRAINING LINKAGE ABSTRACT The wire-driven parallel mechanism appeared in 1980’s is a new type of parallel mechanism. It is actuated by wires instead of links and it is a closed-loop mechanism where the mobile platform is connected to the base via wires by multitude of independent kinematics chains. This kind of mechanism has advantages of comparatively higher stiffness, precision, load capability and compact structure and comparatively larger workspace. The structure analysis , kinematics analysis of the foward and inverse solution?workspace and singularity analysis of the two DOF wire-driven parallel mechanism with a constraining linkage are studied in this paper. Then the simulation of one application of the mechanism and its three-dimensional model and so on are also obtained to provide theoretical guidance for such wire-driven parallel mechanism development and applications. First of all, based on the analysis of the structure characteristic and degree of freedom of the wire-driven parallel mechanism, a new 2-DOF wire-driven parallel mechanism is proposed and then its degree of freedom is studied to and its configuration is confirmed. Then kinematics analysis of the new 2-DOF wire-driven parallel mechanism is studied. The inverse solution of position is established through closed vector method and the analysis method of the forward solution of position is proposed .Then? the inverse and forward solutions of position?velocity and acceleration of the mechanism are obtained and moreover the kinematics analysis configuration obtains the Jacobin matrix. A simple verification of the converse displacement solution is also studied. Second, we introduces the type and analysis methods of workspace and singularity of parallel mechanism and analyzes the workspace and singularity of the structure presented in this paper. Then the impact on the workspace by variation of the st