并联机构奇异点的运动分岔研究

采用静态分岔理论研究一般并联机构在奇异点处的运动分岔现象。通过约束方程研究了几种简单机构在驱动奇异和末端执行器奇异下的不同分岔类型,并研究了机构参数对分岔性态的影响。指出非持久性奇异分岔可以通过调整机构参数转换为持久性奇异分岔,从而克服机构在奇异点邻域内的运动不确定性。

Motion Bifurcation at Singularities of Parallel Mechanisms

The elementary bifurcation theory is utilized to study the bifurcation of singularities of general parallel mechanisms. Based on constraint equations, some typical motion bifurcation of simple parallel mechanisms are researched and they can be classified into different styles by codimensions of constraint equations at actuator singular points or end-effector singular points. Finally, this paper discusses how the disturbance of mechanism parameters affects the bifurcation diagram of singularities and results show that those nonpersistent bifurcations of parallel mechanisms can be transformed into those persistent bifurcations so that the motion uncertainty at singularities can be overcome.