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3-UPU并联机构对运动副间隙较为敏感,容易形成奇异,当前方法对其奇异特性进行消除,存在并非正常的转动问题,也就是伴随运动,形成干扰。提出一种伴随运动消除方法,通过添加冗余驱动支链方法,消除3-UPU并联机构采矿中的干扰。对3-UPU并联机构存在的非期望转动问题进行强度评估,根据评估结果限制螺旋和伴随转动间的互易积非零,限制螺旋对伴随转动进行做功。得到伴随转动自由度运动的范数描述,依据范数检测误差限制对非期望转动的干扰幅度,通过添加冗余驱动支链的方法,消除并联机构采矿中的伴随运动。实验结果表明:采用所提伴随运动消除方法时的并联机构工作空间满足采矿升沉幅值以及位移的要求。
The 3-UPU parallel mechanism is more sensitive to the gap of the movement, easy to form a strange, the current method to eliminate its singularity, there is not a normal rotation problem, that is, accompanied by movement, the formation of interference. A concomitant movement elimination method is proposed to eliminate the interference in the mining of 3-UPU parallel mechanism by adding redundant driving branch method. The strength of 3-UPU parallel mechanism is estimated based on the strength of non-expected rotation. According to the evaluation result, the reciprocal product of the spiral and the accompanying rotation is restricted to zero, and the spiral is restrained from doing any work with the rotation. The norm description of the motion with rotational freedom is obtained. According to the limit of norm detection error to the undesired rotation, the accompanying motion in the parallel mechanism mining is eliminated by adding redundant driving branches. The experimental results show that the working space of the parallel mechanism satisfies the requirements of mining heave amplitude and displacement when using the proposed method with motion elimination.