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一种三角化解耦1T2R并联机构的型综合与运动学分析

何延 刘宏昭

何延, 刘宏昭. 一种三角化解耦1T2R并联机构的型综合与运动学分析[J]. 机械科学与技术, 2019, 38(11): 1669-1675. doi: 10.13433/j.cnki.1003-8728.20190038
引用本文: 何延, 刘宏昭. 一种三角化解耦1T2R并联机构的型综合与运动学分析[J]. 机械科学与技术, 2019, 38(11): 1669-1675. doi: 10.13433/j.cnki.1003-8728.20190038
He Yan, Liu Hongzhao. Type Synthesis and Kinematics Analysis of a Triangle Decoupled 1T2R Parallel Mechanism[J]. Mechanical Science and Technology for Aerospace Engineering, 2019, 38(11): 1669-1675. doi: 10.13433/j.cnki.1003-8728.20190038
Citation: He Yan, Liu Hongzhao. Type Synthesis and Kinematics Analysis of a Triangle Decoupled 1T2R Parallel Mechanism[J]. Mechanical Science and Technology for Aerospace Engineering, 2019, 38(11): 1669-1675. doi: 10.13433/j.cnki.1003-8728.20190038

一种三角化解耦1T2R并联机构的型综合与运动学分析

doi: 10.13433/j.cnki.1003-8728.20190038
基金项目: 

陕西省13115科技重大专项 2009ZDKG-33

国家自然科学基金项目项目 51275404

详细信息
    作者简介:

    何延(1994-), 硕士研究生, 研究方向为并联机构及机构学, heyan_xaut@163.com

    通讯作者:

    刘宏昭, 教授, 博士生导师, liu-hongzhao@163.com

  • 中图分类号: TH112

Type Synthesis and Kinematics Analysis of a Triangle Decoupled 1T2R Parallel Mechanism

  • 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。
  • 图  1  PU+PRU+PUS并联机构

    图  2  并联机构运动分析曲线

    图  3  机构关节转角约束

    图  4  机构位姿工作空间

    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 RXUXY
    PZ0 RXPYZRY
    下载: 导出CSV

    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
    下载: 导出CSV
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出版历程
  • 收稿日期:  2018-07-16
  • 刊出日期:  2019-11-05

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