并联机构奇异点动态稳定性研究

项目名称： 并联机构奇异点动态稳定性研究

项目编号： No.51205409

项目类型： 青年科学基金项目

立项/批准年度： 2013

项目学科： 机械工程学科

项目作者： 李雨桐

作者单位： 中国石油大学（华东）

项目金额： 25万元

中文摘要： 运动奇异性是并联机构的固有特性。在设计阶段消除运动奇异对并联机构的消极影响，对于改善并联机构工作性能，提高整体工作空间载荷能力，具有重要的理论意义。并联机构奇异点动态稳定性研究课题，通过分析并联机构自身动力学参数和输入动力学参数对其奇异点动态稳定性的影响，给出满足稳定裕度要求、载荷能力要求和抗扰动能力要求的并联机构动力学参数空间分布模型。借助于这些空间分布曲线面，设计者通过合理确定并联机构的结构参数、动力学参数和输入控制参数，在设计阶段能够消除奇异性对并联机构的消极影响，从而提高并联机构在整体工作空间的运动稳定性、载荷能力和抗干扰能力。该研究对于提高我国航空航天并联装备的安全性和可控性，具有重要的理论价值和国防应用价值。

中文关键词： 并联机构；奇异点；动态稳定性；消除奇异；设计阶段

英文摘要： Singularity is the inherent characteristic of parallel manipulators. To eliminate its negative effects on the performances, the load ability in the whole working space of parallel manipulators in the design stage is of quite important merits. This research object, i.e. the research on the stability analysis of the singularity for parallel manipulators, takes the above as the goal. Trough analyzing the effects of the self dynamic parameters and the input parameters on the singularity dynamic stability, the dynamic parameters distribution spatial models which meet the requirements of the dynamic stability margin, the load abilities, and the anti-disturbance ability will be figured out. By selecting the dynamic parameters and input parameters from this distribution models properly, the designer can eliminate the singularity of parallel manipulators in the design stage. In this way, the dynamic stability, the load abilities, and the anti-disturbance ability of parallel manipulators are enhanced. Consequently, the parallel manipulator can work in the whole working space with the desired moving configurations and the load capability, as well as the anti-immunity to the disturbance without meeting the singularity problem. The dynamic stability, the controllability and the safety of the parallel manipulators especially

英文关键词： Parallel Manipulator；Singularity；Dynamic Stability；Eliminate Singularity；Design Stage