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1、上海交通大学硕士学位论文混合输入4R1P型平面并联机构的运动特性分析及实验研究姓名：黄其高申请学位级别：硕士专业：机械设计及理论指导教师：郭为忠20060112上海交通大学硕士学位论文KINEMATICANALYSISandEXPEREMENTRESARCHforHYBRIDDRIVEN4R1P-StylePlANARPARALLELMECHANISMABSTRACTHybriddrivenmechanismisakindofcontrolledmechanism.Itpossessesmeritsofboththetradi
2、tionalmechanismwithhighspeed,effective,lowcostandmodernparallelroboticsmechanismwithhighprecisionandcontrollability.Afteranalysisoftheexistedresearchofhybriddrivenmechanism,thepaperstudiesthekinematiccharacteristicofhybriddriven4R1P-Stylefivebarmechanism.,whichinclu
3、desitsmobility,singularitiesandworkspace,validityoftrajectory,thedevelopmentofhybriddrivenexperimentalplatform.Thentheseresultsarevalidatedbyexperimentaccordingly.Thepaperhassevenchapterswiththefollowingcontents.1.ThoughtheresearchofmobilityanalysisforsingleloopnR1P
4、-typeplanarkinematicchain,thepaperregardshybriddriven4R1P-StylefivebarasaspecialcaseofnR1Pkinematicchainandstudiesthemobilityofmechanismsystematically.Theconclusionsconcludesassemble-ability,crankcondition,mobilitywithpassiveprismaticjoint,mobilitywithactiveprismati
5、cjoint.2.BasedonConditionsofsingularitieswithJacobianmatrixofparallelmechanism,thesingularitiesof4R1P-Stylefivebarmechanismshavebeenstudiedfirstly.Withthesynthesizeofpartialsingularityposition,thepaperstudiestherelationshipbetweendimensionalparametersandfullycontrol
6、labilityandnon-fullycontrollabilityThen,theCartesianworkspaceofthehybriddrivenmechanismhasbeenresearched.Basedonthemethodofvector,itplotstheCartesianworkspaceatlasofthemechanism.3.Withtheresearchofpartialtrajectorycharacteristics,thevaliditycriteriaoftrajectoryinthe
7、Cartesianworkspaceofhybriddriven4R1P-Styplemechanismhasbeenfounded,thatisthejudgementelementwhichnamedconisnotlessthanzero.Thevaliditycriteriaoftrajectoryintherotationworkspaceofthemechanismhasalsobeenfounded,thatistheinputmotioncurves=s(q),(qÎ[0,2p])mustbesingleval
8、uefunctionaboutq.1114.Consideringthemulti-processofpress,thehybriddrivenexperimentalplatformII上海交通大学硕士学位论文hasbeendeveloped.Inordertogetthe
