4-并联机构的动力学性能指标分析

刘 爽¹  郭希娟²  刘 彬¹

(1．燕山大学电气工程学院 秦皇岛 066004；
2．燕山大学信息科学与工程学院 秦皇岛 066004)

摘要：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。

关键词：4- 并联机构  动力学性能指标  影响系数矩阵  模型仿真

中图分类号：TH112

河北省自然科学基金资助项目(E2006000208)。20070830收到初稿，20080105收到修改稿

作者简介：刘爽，男，1978年出生，博士研究生。主要研究方向为并联机构动力学性能分析。
E-mail：shliu@ysu.edu.cn

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