两自由度可控闭链机构系统运动实施

摘要

以两自由度可控闭链机构系统为研究对象,对此类机构的运动进行了分析,研究了机构在其运动空间内给定轨迹的实现方法,并以此类机构在工程机械中的应用为实例,给出了此类机构系统运动实施的协调运动控制硬件架构原理,为此类机构的运动控制软件架构提供基础.研究结果对此类机构的动力学分析、振动控制及其在工程中的推广应用具有实际意义.%A 2- DOF controllable closed-chain linkage mechanism system was investigated herein. The kinematics analysis of the linkage mechanism was done, and the implementation method under given trajectory in its workspace was studied. The coordinated motion control hardware architecture principles of such kinds of linkage mechanism system were given with the applications of linkage mechanism on engineering machinery as example. The study provides basis for motion control software architecture, and is useful for dynamics analysis, vibration control and the generalized applications on engineering of such kinds of linkage mechanism.