极轻机构及机器人柔顺装置的灾变分析与综合

Imponderable mechanism are formed by light link, each link is actually taken as a spring, the whole system should belong to spring system. The reverse force analysis of a spatial three-spring system is finished using the idea of Dixon's resultant. The analysis result we have obtained is similar to that by algebraic geometry, which shows the two methods are possibly interrelated. As for the calibration of virtual axis machine tool, we present measurment metod for total position and orientation of moving plateform and matrix regrouping method for unknowns identification. Therefore we develop photo-electric length gauge with balls which can measure longer distance than the usual one. We try to use the lengh gauge to do the calibration for a machine tool which is formed by a planar parallel mechanism. the calibration result is relatively satisfied, which shows that the above measuring instrument, measurement method and the method for unknowns identification are efficient and correct and can be applied for future.

柔顺装置及极轻机构的力学模型是若干个弹簧及刚体构成的各种几何构型。当输入变量平稳变化时，输出变量却发生剧烈变化，这就是灾变。本项目即研究所谓运动静力控制新理论所需的各种柔性系统，对其进行灾变分析，得出其解析解或封闭式解，在此基础上得出其综合理论，为这种装置的设计打下理论基础。主要难点是消元问题，我们有这方面的经验积累。