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基于机构工作空间积分函数求偏导数的方法,通过工作空间积分函数并分别定义串联、并联、串并联机构的积分域来求解机构的工作空间体积,并得到了机构一元、二元、三元输入函数奇异的死点、极值点的判断条件;通过对其求二阶偏导数来定义判断机构各输入变量之间的耦合度Gk,由耦合度Gk是否为0即可判断机构各输入变量之间是否具有解耦特性;基于工作空间函数与输入变量的关系,以及输入变量与时间的关系,定义了3个新的衡量机构运动特性的指标:定位精度影响因子、动态响应影响因子、灵敏度影响因子,并给出其计算过程和物理意义,为机构运动特性的研究拓展了途径。
Based on the integral function of work space and the derivation of the partial derivative, the work space integral function is used to define the work space volume of series, parallel and series-parallel mechanisms respectively. And the one-, two-, and three- Function singular death point, the extreme point of the judge conditions; by seeking its second-order partial derivative to determine the judging mechanism between the input variables of the coupling Gk, the coupling Gk is 0 to determine the mechanism of the input variables Based on the relationship between work space function and input variables, and the relationship between input variables and time, three new measures to measure the kinematic characteristics of mechanism are defined: positioning accuracy factor, dynamic response factor, sensitivity factor Factor, and gives its calculation process and physical meaning, which expands the way for the study of the movement characteristics of the mechanism.