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利用位置反解分析4-■并联机构的空间位形,并采用虚设机构法和影响系数矩阵法建立Jacobian和Hessian矩阵,将Hessian矩阵引入全域性能指标中,不同于以往仅采用Jacobian矩阵作为评价机构性能的指标,使得对机构的动力学性能评价更加全面。对全新的4-■ 4自由度并联机构进行速度、加速度和惯性力性能指标分析,给出三项指标的性能图谱。改变机构尺寸,搜索4-■并联机构在不同机构尺寸下的工作空间,在可达工作空间内讨论机构尺寸变化对机构性能的影响,重点讨论Jacobian矩阵和Hessian矩阵对机构加速度性能的影响程度。对比加速度偏差的具体数值,发现Hessian矩阵对机构的加速度性能有着更重要的影响。最后利用Matlab软件对机构进行模型仿真。
The position inverse analysis is used to analyze the spatial configuration of 4-parallel mechanism, and the Jacobian and Hessian matrices are constructed by using the virtual mechanism method and the influence coefficient matrix method. The Hessian matrix is introduced into the global performance index. Different from the previous Jacobian matrix Performance indicators, making the agency’s dynamic performance evaluation more comprehensive. The performance analysis of speed, acceleration and inertial force of the new 4- ■ 4 DOF parallel mechanism was carried out, and the performance of three indicators was given. Change the size of the mechanism, search 4 - ■ parallel mechanism work space in different size of the mechanism, discuss the influence of the size change of the mechanism on the mechanism performance in the reachable work space, and focus on the influence of Jacobian matrix and Hessian matrix on the acceleration performance of the mechanism. Comparing the specific values of acceleration bias, we find that the Hessian matrix has a more important effect on the acceleration performance of the mechanism. Finally, using Matlab software to simulate the mechanism.