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含消极运动副的单闭环非过约束机构构型设计

刘勇 许勇 王威 刘佳莉 施浩然

刘勇,许勇,王威, 等. 含消极运动副的单闭环非过约束机构构型设计[J]. 机械科学与技术,2020,39(6):836-843 doi: 10.13433/j.cnki.1003-8728.20190214
引用本文: 刘勇,许勇,王威, 等. 含消极运动副的单闭环非过约束机构构型设计[J]. 机械科学与技术,2020,39(6):836-843 doi: 10.13433/j.cnki.1003-8728.20190214
Liu Yong, Xu Yong, Wang Wei, Liu Jiali, Shi Haoran. Configuration Design of Single Closed-loop Non-overconstrained Mechanisms with Inactive Joints[J]. Mechanical Science and Technology for Aerospace Engineering, 2020, 39(6): 836-843. doi: 10.13433/j.cnki.1003-8728.20190214
Citation: Liu Yong, Xu Yong, Wang Wei, Liu Jiali, Shi Haoran. Configuration Design of Single Closed-loop Non-overconstrained Mechanisms with Inactive Joints[J]. Mechanical Science and Technology for Aerospace Engineering, 2020, 39(6): 836-843. doi: 10.13433/j.cnki.1003-8728.20190214

含消极运动副的单闭环非过约束机构构型设计

doi: 10.13433/j.cnki.1003-8728.20190214
基金项目: 上海高校中青年教师国外访学进修计划项目(2018622)、上海市2018年第一批工业互联网创新发展专项(201822930)及上海市研究生科研创新计划项目(E3-0903-18-01020)资助
详细信息
    作者简介:

    刘勇(1995−),硕士研究生,研究方向为机器人机构学,liuyongwgs@163.com

    通讯作者:

    许勇,副教授,硕士生导师,brucexuyong@163.com

  • 中图分类号: TH112

Configuration Design of Single Closed-loop Non-overconstrained Mechanisms with Inactive Joints

  • 摘要: 为减弱过约束机构中严格的运动副轴线间几何约束关系,降低机构的装配误差和难度,提出一种引入消极运动副的单闭环非过约束机构构型设计方法。给出了引入消极运动副的非过约束机构自由度分析方法、非过约束机构的设计原理及设计流程。针对过约束Goldberg机构,通过在同一转动副中添加2个消极运动副R,得到非过约束Goldberg机构RSRRR。通过螺旋理论证明了过约束/非过约束Goldberg机构在运动学上完全等效,并对非过约束Goldberg机构输入输出运动参数求解,从而验证了本文提出的单闭环非过约束机构构型设计方法的正确性。
  • 图  1  空间全R副单闭环过约束机构

    图  2  单环非过约束机构构型设计流程

    图  3  Goldberg机构

    图  4  非过约束Goldberg机构简图

    图  5  过约束/非过约束Goldberg机构运动旋量

    图  6  Bennett机构结构参数

    图  7  非过约束Goldberg机构角位移曲线

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出版历程
  • 收稿日期:  2019-05-31
  • 刊出日期:  2020-06-05

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