Type Synthesis and Kinematics Analysis of a Triangle Decoupled 1T2R Parallel Mechanism
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摘要: 对一种三角化解耦1T2R并联机构进行型综合,通过分析三角化解耦机构Jacobian矩阵特点,得到其支链驱动副与动平台自由度之间的解耦关系。结合牵连运动与转动自由度条件,得到机构支链自由度。进而以螺旋理论为基础进行型综合。对PU+PRU+PUS机构进行自由度计算,推导出机构位置正反解,分析速度与加速度性能,同时求出正逆Jacobian矩阵,使用ADAMS软件进行建模仿真,验证机构运动学正确性,最后对该机构工作空间进行求解。Abstract: A triangle decoupled 1T2R parallel mechanism was synthesized by analyzing the characteristics of the Jacobian matrices of a triangle decoupled mechanism. The decoupling relationship between the active pair of branch chains and the freedom of a moving platform was obtained. The freedom of a branched chain was obtained by combining the implicated motion and the conditions of rotational freedom. Then the type synthesis was carried out based on the screw theory, and the structural analysis of the PU+PRU+PUS mechanism was conducted. The degree of freedom of the mechanism, the positive and negative solutions of its position, the velocity and acceleration were analyzed. Meanwhile, the Jacobian matrix was obtained; the ADAMS software was used for modeling and simulation to verify the correctness of the kinematics of the mechanism. Finally, its working space was solved.
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Key words:
- parallel mechanism /
- triangle decoupling /
- type synthesis /
- kinematics analysis
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表 1 支链2构型
驱动 支链类型 RX0 RX0 RXRXRY RX0 PYZRXRY RX0 PYZPYZRY RX0 RXPYZRY RX0 RXUXY RX0 PYZUXY PY0 PY0 RXPYZRY PY0 RY0 PYZRY PY0 RX0 RXRY PY0 RXRXRY PY0 RXUXY PY0 RX0 UXY PZ0 PZ0 RXRXRY
PZ0 RXUXYPZ0 RXPYZRY 表 2 支链3构型
驱动 支链类型 RY0 RY0 RXRYRXRYRZ RY0 UXYSXYZ RY0 RXRYRZRXRYRZ RY0 SXYZUXY RY0 RXRYRZRXRY RY0 SXYZSXYZ PX0 PX0 RXRYRXRYRZ PX0 UXYSXYZ PX0 RXRYRZRXRY PX0 UXY0 SXYZ PX0 RX0 RY0 RZ0 RXRYRZ PX0 SXYZ0 UXY PX0 RX0 RY0 RZ0 RXRY PX0 UXY0 SXYZ PX0 RX0 RY0 RXRYRZ PX0 SXYZUXY PX0 RXRYRZRXRYRZ PX0 SXYZSXYZ PY0 PY0 RXRYRXRYRZ PY0 UXYSXYZ PY0 RXRYRZRXRY PY0 SXYZUXY PY0 RX0 RY0 RZ0 RXRYRZ PY0 SXYZ0 SXYZ PY0 RXRYRZRXRYRZ PY0 SXYZSXYZ PY0 RX0 RY0 RXRYRZ PY0 UXY0 SXYZ PY0 RX0 RY0 RZ0 RXRY PY0 SXYZ0 UXY PZ0 PZ0 RXRYRXRYRZ PZ0 SXYZSXYZ PZ0 RXRYRZRXRY PY0 SXYZ0 UXY PZ0 RXRYRZRXRYRZ PZ0 SXYZUXY -
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