并联机构以保持构型通过奇异位置的方法-机械工程学报.PDF

第 44 卷第 6 期 机 械 工 程 学 报 Vol.44 No.6 2008 年 6 月 CHINESE JOURNAL OF MECHANICAL ENGINEERING Jun. 2008 并联机构以保持构型通过奇异位置的方法* 王玉新 李雨桐 郭瑞琴 (浙江大学机械与能源工程学院 杭州 310027) 摘要：通过研究单输入参数作为自变量的并联机构构型曲线分岔特性，以及构型分岔曲线对输入参数扰动的响应，提出一种 使并联机构以保持的构型通过奇异位置的扰动函数方法，并以半规则六边形 Gough-Stewart 并联机构为例，构造并联机构以 保持的构型通过奇异位置的扰动函数。在扰动函数的作用下，并联机构以微小的误差到达奇异位置，并按原构型曲线返回。 该方法解决了并联机构在奇异位置处运动不确定的问题，使并联机构能够在整体工作空间内给出确定的运动输出。 关键词：并联机构 转向点奇异 扰动函数 奇异性规避 中图分类号：TP242 Method for Parallel Manipulators to Pass through Singular Points with Its Original Configuration WANG Yuxin LI Yutong GUO Ruiqin (College of Mechanical and Energy Engineering, Zhejiang University, Hangzhou 310027 ) Abstract ：Through the studies of the configuration bifurcation characteristics of a 6-SPS Gough-Stewart manipulator under the action of the single input parameter, and the transform characters of singular points under the disturbances of the other input parameters, a novel method for parallel manipulators to pass through singular points with a persistent configuration is presented. Taking a semi-regular hexagons Gough-Stewart manipulator as an example, the disturbance function for the manipulator to pass through the singular point with a persistent configuration is constructed. Numerical result shows that under the action of the disturbance function, the manipulator can approach the singular point with a very small error and go back with its original configuration. The method presented has solved the problem of the uncertainty of motion at the singular point. In this way, parallel manipulators can give the determinat