Deficient degree of freedom spatial parallel mechanism topological performance index analyzing method and deficient degree of freedom spatial parallel mechanism topological performance index analyzing device
A degree of freedom and parallel technology, applied in the direction of electrical program control, program control in sequence/logic controller, etc., can solve problems such as difficult to guarantee spatial geometric conditions and scale requirements, and structural complexity of spatial parallel structure
Active Publication Date: 2017-09-22
河北乐聪网络科技股份有限公司
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However, with the deepening of the research, the researchers also found that due to the complexity of the structure of the space parallel structure itself, it is difficult for the existing assembly and processing technology to guarantee the spatial geometric conditions and scale requirements stipulated by the existence of its mechanism.
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[0041] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided for more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.
[0042] figure 1 A flow chart of a method for analyzing the topological performance of a space parallel mechanism with a few degrees of freedom including closed loops is schematically shown in one embodiment of the present invention. refer to figure 1 , the embodiment of the present invention specifically includes the following steps:
[0043] S101. Obtain at least one topology structure of the space parallel mechanism with few de...
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The invention discloses a deficient degree of freedom spatial parallel mechanism topological performance index analyzing method and a deficient degree of freedom spatial parallel mechanism topological performance index analyzing device. The method comprises steps that a topological structure of a deficient degree of freedom spatial parallel mechanism comprising a closed loop is established; the topological structure is optimized, and performance analysis is carried out. By designing and analyzing the topological structure of the deficient degree of freedom spatial parallel mechanism, a spatial mechanism evaluation and optimization method of a system based on the topological structure is established, and therefore influences caused by various factors are evaluated, and the development of the spatial parallel structure more adapted to assembly and industrial application is possible.
Description
technical field [0001] The invention relates to the technical field of topology performance analysis of a space parallel mechanism, in particular to a method and device for analyzing a topology performance index of a space parallel mechanism with few degrees of freedom. Background technique [0002] Advances in robotics are driving the development of modern mechanisms. Among the various sub-assemblies of the robot, the mechanism is the skeleton and actuators of the robot. In the process of robot mechanism design, robot structure synthesis and type optimization are the most original and innovative design stages. But for a long time, mechanism design has mainly relied on the designer's experience, knowledge, intuition and inspired thinking, which has led to difficulties in the design of new mechanisms. The method of classifying machines according to the spatial topology of the mechanism used as the carrier of robot motion, including serial robots, space parallel mechanisms, ...
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Inventor 田东兴
Owner 河北乐聪网络科技股份有限公司