留言板

尊敬的读者、作者、审稿人, 关于本刊的投稿、审稿、编辑和出版的任何问题, 您可以本页添加留言。我们将尽快给您答复。谢谢您的支持!

姓名
邮箱
手机号码
标题
留言内容
验证码

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
  • [1] Briot S, Bonev I A. Pantopteron: a new fully decoupled 3DOF translational parallel robot for pick-and-place applications[J]. Journal of Mechanisms and Robotics, 2009, 1(2):021001 http://d.old.wanfangdata.com.cn/NSTLQK/NSTL_QKJJ0215825442/
    [2] Carricato M, Parenti-Castelli V. A novel fully decoupled two-degrees-of-freedom parallel wrist[J]. The International Journal of Robotics Research, 2004, 23(6):661-667 doi: 10.1177/0278364904044077
    [3] Kim H S, Tsai L W. Design optimization of a Cartesian parallel manipulator[J]. Journal of Mechanical Design, 2003, 125(1):43-51 doi: 10.1115/1.1543977
    [4] 王英, 李秦川, 武传宇, 等.一种具有各向同性的3-PPRRR移动并联机构[J].中国机械工程, 2009, 20(10):1135-1140 doi: 10.3321/j.issn:1004-132X.2009.10.001

    Wang Y, Li Q C, Wu C Y, et al. A 3-DOF 3-PPRRR translational parallel mechanism with fully-isotropy[J]. China Mechanical Engineering, 2009, 20(10):1135-1140(in Chinese) doi: 10.3321/j.issn:1004-132X.2009.10.001
    [5] 张彦斌, 吴鑫, 刘宏昭, 等.无奇异完全各向同性2T1R型并联机构的结构综合[J].中国机械工程, 2008, 19(3):277-281 doi: 10.3321/j.issn:1004-132X.2008.03.006

    Zhang Y B, Wu X, Liu H Z, et al. Structural synthesis of singularity-free fully-isotropic parallel mechanisms with 2T1R-type[J]. China Mechanical Engineering, 2008, 19(3):277-281(in Chinese) doi: 10.3321/j.issn:1004-132X.2008.03.006
    [6] Gogu G. Structural synthesis of fully-isotropic translational parallel robots via theory of linear transformations[J]. European Journal of Mechanics-A/Solids, 2004, 23(6):1021-1039 doi: 10.1016/j.euromechsol.2004.08.006
    [7] 张帆, 张丹.基于支链驱动理论的解耦球面转动并联机构型综合[J].农业机械学报, 2011, 42(11):195-199 http://d.old.wanfangdata.com.cn/Periodical/nyjxxb201111037

    Zhang F, Zhang D. Structural synthesis of decoupled spherical parallel mechanism based on driven-chain principle[J]. Transactions of the Chinese Society for Agricultural Machinery, 2011, 42(11):195-199(in Chinese) http://d.old.wanfangdata.com.cn/Periodical/nyjxxb201111037
    [8] 范彩霞, 刘宏昭.一种新型三自由度并联机构的运动学分析[J].机械科学与技术, 2012, 31(7):1042-1045 https://journals.nwpu.edu.cn/jxkxyjs/article/id/5624

    Fan C X, Liu H Z. Kinematic analysis of a novel three DOF parallel mechanism[J]. Mechanical Science and Technology for Aerospace Engineering, 2012, 31(7):1042-1045(in Chinese) https://journals.nwpu.edu.cn/jxkxyjs/article/id/5624
    [9] 沈惠平, 马履中, 朱小蓉, 等.全解耦并联机构的运动学与工作空间分析[J].农业机械学报, 2005, 36(11):124-127 doi: 10.3969/j.issn.1000-1298.2005.11.032

    Shen H P, Ma L Z, Zhu X R, et al. Analyses of kinematics and workspace for a 3-DOF fully de-coupled parallel mechanism[J]. Transactions of the Chinese Society for Agricultural Machinery, 2005, 36(11):124-127(in Chinese) doi: 10.3969/j.issn.1000-1298.2005.11.032
    [10] 李惠良, 金琼, 杨廷力.一类一平移两转动解耦并联机构及其位移分析[J].机械制造与自动化, 2002(1):9-12, 14 doi: 10.3969/j.issn.1671-5276.2002.01.003

    Li H L, Jin Q, Yang T L. A group of 3-DOF decoupled parallel mechanisms and their displacement analyses[J]. Machine Building & Automation, 2002(1): 9-12, 14(in Chinese) doi: 10.3969/j.issn.1671-5276.2002.01.003
    [11] 曾达幸, 黄真.基于螺旋理论的转动解耦并联机构型综合[J].中国科学:技术科学, 2011, 41(5):585-591 http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=zgkx-ce201105007

    Zeng D X, Huang Z. Type synthesis of the rotational decoupled parallel mechanism based on screw theory[J]. Science China Technological Sciences, 2011, 54(4):998-1004(in Chinese) http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=zgkx-ce201105007
    [12] Zeng D X, Lu W J, Zhang C, et al. Design and analysis of a novel 2-DoF rotational decoupled adjusting parallel mechanism[C]//Proceedings of the 2013 11th IEEE International Conference on Industrial Informatics. Bochum, Germany: IEEE, 2013: 321-324
    [13] 秦友蕾, 陈海, 曹毅.完全解耦一移动三转动并联机构结构综合[J].机械设计, 2017, 34(6):23-29 doi: 10.3969/j.issn.1001-3997.2017.06.006

    Qin Y L, Chen H, Cao Y. Structure synthesis of fully-decoupled one-translational and three-rotational parallel mechanisms[J]. Journal of Machine Design, 2017, 34(6):23-29(in Chinese) doi: 10.3969/j.issn.1001-3997.2017.06.006
    [14] 黄秀琴, 辛秀梅, 沈惠平, 等.一种新型3自由度并联机构的设计和与运动学分析[J].机械设计, 2010, 27(7):4-6 doi: 10.3969/j.issn.1001-3997.2010.07.002

    Huang X Q, Xin X M, Shen H P, et al. Design and kinematics analysis of a novel 3-DOF parallel mechanism[J]. Journal of Machine Design, 2010, 27(7):4-6(in Chinese) doi: 10.3969/j.issn.1001-3997.2010.07.002
    [15] Fan C X, Liu H Z, Zhang Y B. Kinematics and singularity analysis of a novel 1T2R fully-decoupled parallel mechanism[C]//Proceedings of 2009 IEEE International Conference on Intelligent Computing and Intelligent Systems. Shanghai, China: IEEE, 2009: 312-316
    [16] 黄真, 赵永生, 赵铁石.高等空间机构学[M].北京:高等教育出版社, 2006

    Huang Z, Zhao Y S, Zhao T S. Advanced spatial mechanism[M]. Beijing: Higher Education Press, 2006(in Chinese)
  • 加载中
图(4) / 表(2)
计量
  • 文章访问数:  314
  • HTML全文浏览量:  145
  • PDF下载量:  48
  • 被引次数: 0
出版历程
  • 收稿日期:  2018-07-16
  • 刊出日期:  2019-11-05

目录

    /

    返回文章
    返回