位置・姿勢特性方程式に基づく並列機構の自動可動性解析アルゴリズム
Automatic mobility analysis of parallel mechanisms: an algorithm approach based on position and orientation characteristic equations
位置・姿勢特性(POC)方程式を二値論理演算に変換するアルゴリズムを構築し、並列機構の可動性を自動解析・表示するVC++ソフトウェアを実現した。
著者: Xiaorong Zhu, Huiping Shen, Chengqi Wu, Damien Chablat, Tingli Yang
分類: cs.RO
原文アブストラクト
The determination of the mobility of parallel mechanisms (PM) is a fundamental problem. An automatic and intelligent analysis platform will be a significant tool for the design and optimization of mechanical systems. Based on the theory of position and orientation characteristics (POC) equations, a systematic approach to computer-aided mobility analysis of PMs is presented in this paper. First, a digital model for topological structures which has a mapping relationship with position and orientation characteristics of mechanism is proposed. It describes not only the dimension of the motion output, but also gives the mapping relationship between the output characteristic and the axis of the kinematic joints. Secondly, algorithmic rules are established that convert the union and intersection operations of POC into the binary logical operations and the automatic analysis of POC are realized. Then, the algorithm of the automatic mobility analysis of PMs and its implementation with VC++ are written .The mobility and its properties (POC) will also be analyzed and displayed automatically after introducing by users of the data of topological structures representation. Finally, typical examples are provided to show the effectiveness of the software platform.
