论文部分内容阅读
基于柔顺并联机构的组成原理,设计构造了一种简易实用的柔顺并联自适应机构,通过该机构的伪刚体模型,推导出机构的活动自由度、耦合度以及逆向解析解,仿真分析了执行工作面在定位置下各弹簧长度变化规律和自适应运动条件下的可达工作空间,同时建立了机构的虚拟样机模型。本文的研究为柔顺并联自适应机构的工业应用提供了理论参考。
Based on the composing principle of compliant parallel mechanism, a simple and practical compliant parallel adaptive mechanism is designed and constructed. The pseudo-rigid body model of the mechanism is used to derive the freedom of movement, coupling degree and inverse analytical solution of the mechanism. Plane in the positioning of the spring length changes under the rules and reachable adaptive work space under the working space, while the establishment of a virtual prototype model. The research in this paper provides a theoretical reference for the industrial application of compliant parallel adaptive mechanism.