汪劲松
先进制造技术、机器人学、绿色制造
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- 姓名:汪劲松
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学术头衔:
博士生导师
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学科领域:
精密仪器制造
- 研究兴趣:先进制造技术、机器人学、绿色制造
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成果数
10
汪劲松, 黄田
,-0001,():
-1年11月30日
并联机床是90年代问世的新型数控加工装备,其研发使机床行业面临新的机遇与挑战。简要评述了并联机床的国内外发展现状和未来趋势,以及设计理论与关键技术的研究进展。结合样机设计与制造的实践经验,提出亟待解决的若干理论与技术问题,以及解决这些问题的可行途径。
并联机床, 概念设计, 运动学, 动力学, 数控技术, 精度补偿, 关键基础件
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53浏览
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【期刊论文】并联机床的非线性特性及其在插补精度分析中的应用*
汪劲松, 王忠华, 黄田
中国科学,2003,33(9),820~828,-0001,():
-1年11月30日
应用微分几何的观点研究了并联机床关节空间输入向量与工作空间输出向量之间的运动学非线性特性。提出了应用并联机构正解解轨迹的曲弯,对解轨迹的弯曲和等到间距输入映射到解轨迹上的不等间距输出出的非线性程度进行度量的方法。通过对并联机构非线性引起的插补误差的分析,给出了这种非线性曲率度量方法在涉及并联机构非线性的分析中的应用实例。以并联机床VAMT1Y为例进行了分析计算,并与正解数值算法得出了论进行了比较研究。
并联机构, 插补, 非线性度量, 曲率, 精度分析
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37浏览
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190下载
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汪劲松, 李铁民, 段广洪
中国工程科学,2002,4(6),63~70,-0001,():
-1年11月30日
并联构型装备正处于商品化、产业化的关键时期。文章从结构、应用领域、驱动方式、控制等方面阐述了并联构型装备的研究进展,介绍了国际上的一些主要研究计划, 分析了产业化进程中的若干关键技术及其可能的解决方案。
并联机构, 并联构型装备, 驱动, 控制系统
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46浏览
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465下载
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汪劲松, 白杰文, 高猛, 郑浩峻, 李铁民
,-0001,():
-1年11月30日
为提高Stewart 平台的运动精度,解决铰链间隙误差的影响问题,将Stew art 平台的各条支链作为假想的单开链,利用串联机器人运动学中的D2H(Denavit2Hartenberg)方法,结合从运动学方程微分得到的结论,推导出终端运动误差和铰链间隙误差间的映射关系。并且以一台基于Stew 2art平台的并联机床为模型,利用仿真计算,分析了工作空间内间隙误差对终端运动精度的影响规律,为并联机床的误差J T singhua U niv (Sci & Tech),补偿提供了理论基础。
Stew art 平台, 精度分析, 铰链间隙
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42浏览
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317下载
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引用
汪劲松, WANG Jinsong, WANG Zhonghua, HUANG Tian&D.J. Whitehouse
,-0001,():
-1年11月30日
This paper is concemed with the kinematic onolinearity measure of parallel kinematic ma-chine tool(PKM), which depends upon differential geometry curvature. The nonlinearity can be de-scrlbed by the crrve of the solution locs and the equal interval iput of joints mapping into inequable interval output of the end-effectors. Such curing and inequation can be measured by BW curvature. So the curvature can measure the nonlinearity of PKM indirectly. Then the distribution of BW curvature in the local area and the whole workspace are also discussed. An example of application to the interpola-tion accuracy analysis of PKM is given to illustrate the effectiveness of this approach.
parallel kinematic machine tool,, noulinearity measure,, curvature,, interpolation,, accuracy analysis.,
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47浏览
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167下载
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引用
【期刊论文】Gough-Stewart 平台微分运动特性分析与综合*
汪劲松, 王忠华, 黄田
,-0001,():
-1年11月30日
在Gough-Stewart平台一阶微分运动关系式的基础上,给出了机构末端执行器最大速度的上界;利用二阶微分运动关系式,导出了关节加速度与末端执行器速度之间的关系;讨论了机构基本构型参数对它们的影响规律。在上述结论下,解决了基于Gough-Stewart 平台数控机床设计中根据进给能力需求优化构型参数、确空关节伺服轴极限转速,以及在数控编程中由机床构型参数、关节伺服轴极限转速和加速度评价刀具进给能力的软极限的两类互逆问题。
Gough-Stewart, 平台, 微分运动, 速度椭球, 数控机床
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32浏览
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79下载
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【期刊论文】Design Methodlology For a Novel Planar Three Degrees of Freedom Parallel Machine Tool
汪劲松, Jinsong Wang, Xiaoqiang Tang, Guanghong Duan, Jianfeng Li
,-0001,():
-1年11月30日
In this papec the dimensional design methodology for a novel planar three degrees of freedom parallel machine tool is investigated. Closed-form solutions are developed o r both the inverse and direct kinematics. Based on the formulation ofthe local dexterity and the dejinition of the theory workspace and valid workspace, the effects of the design parameters on the dexterity and workspace were discussed. The change ratios of' condition number and valid workspace were defined anti used as the evaluated indicator to analyze the effects oj' the design parameters on the performances. According to the analysis results, an approach that could satisfy the requirement of motion platform realizing orientation cupability, dexterity and valid workspace was proposed. An design example is given to illustrate the effectiveness of this approach.
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23浏览
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86下载
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【期刊论文】Analysis of a novel cylindrical 3-DoF parallel robot
汪劲松, Jinsong Wang, Xin-Jun Liu*
Robotics and Autonomous Systems 42(2003)31-46,-0001,():
-1年11月30日
In this paper, a novel three degrees of freedom (DoFs), that are two degrees of translational freedom and one degree of rotational freedom, parallel robot is proposed. The parallel robot consists of a base plate, a movable platform, and three connecting legs. Because the locus of any point on the moving platform is the subset of a cylinder if z is specified, the robot is called a cylindrical parallel robot. The inverse and forward kinematics problems are described in closed forms. And the velocity equation of the new parallel robot is given. Three kinds of singularities are presented. The workspace for the robot is analyzed systematically, especially, a new index to evaluate the mobility (In this paper, mobility means rotational capability.) of the moving platform of the robot is defined and discussed in detail. The parallel robot has wide application in the fields of industrial robots, simulators, microrobots and parallel machine tools.
Degrees of freedom, Parallel robot, Mobility, Workspace
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39浏览
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【期刊论文】Analysis and dimensional design of a novel hybrid machine tool
汪劲松, Jinsong Wang, Xiaoqiang Tang *
International Journal of Machine Tools & Manufacture 43(2003)647-655,-0001,():
-1年11月30日
This paper presents a four degrees of freedom (DOF) hybrid machine tool based on a novel planar 3-DOFs parallel manipulator and a long movement of the worktable. Closed-form solutions are developed for both the inverse and direct kinematics about the parallel manipulator. Three kinds of singularities are presented. Based on the formulation of condition number and the definition of the position workspace and orientation workspace, the effects of the design parameters on the dexterity and workspace were discussed. The change ratios of condition number were defined and used as the evaluated indicator to analyze the effects of the design parameters on the performances. A dimensional design approach that could satisfy the requirement of motion platform realizing orientation capability, dexterity and workspace was proposed. A novel 4-DOFs hybrid machine tool was manufactured. The methodology presented in this paper can be of great help in the design, trajectory planning, control and application of such devices.
Dimensional design, Parallel manipulator, Hybrid machine tool
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37浏览
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171下载
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汪劲松, 黄田*, 杨向东†, 段广洪, 叶佩青
清华大学学报(自然科学版),1999,39,(8):25~29,-0001,():
-1年11月30日
并联机床具有模块化程度高、重量轻、速度快和造价低等优点。该文以62THS型并联机床结构为对象,研究其设计理论与方法。定义了并联机床的初始位形,构造出并联机床处于初始位形时的局部灵活度解析模型,并以此为基础提出了运动学设计的最优构形。基于上述分析结果,提出一种并联机床尺度参数综合方法。该方法兼顾运动终端实现姿态的能力和灵活度两方面的要求,保证了所设计的机床满足制造领域的基本要求。利用该方法进行工程设计计算, 结果证明该方法可行。
并联机床, 灵活性, 工作空间, 尺度综合
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27浏览
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