对一种三自由度支链嵌套并联机构支链划分的合理性判断

杨高炜; 李为民; 张建军

doi:10.13433/j.cnki.1003-8728.2017.0307

对一种三自由度支链嵌套并联机构支链划分的合理性判断

doi: 10.13433/j.cnki.1003-8728.2017.0307

1.
河北工业大学机械工程学院, 天津 300132

基金项目:

国家自然科学基金项目（51175144）资助

详细信息

作者简介:
杨高炜(1984-),博士研究生,研究方向为并联机构,ygw19841127@163.com

通讯作者:
张建军(联系人),教授,博士生导师,博士,zhjjun96@139.com

计量
- 文章访问数: 211
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- PDF下载量: 6
- 被引次数: 0
出版历程
- 收稿日期: 2015-07-29
- 刊出日期: 2017-03-05

Judgment of Rationality of Limb Division Method for 3-DOF Parallel Mechanism with Limbs of Embedding Structures

1.
School of Mechanical Engineering, Hebei University of Technology, Tianjin 300132, China

摘要

摘要: 三自由度支链嵌套机构是一种视觉上各支链间存嵌套的新型机构，该机构活动空间大，安装空间小。但由于各支链存嵌套，彼此之间并不是完全分离，使得其支链划分方式不唯一，其中的不合理的支链划分方式会导致自由度计算错误，无法正确识别机构的主螺旋等问题。针对这一问题提出了一种判断支链划分合理性的方法。该方法以欠秩空间并联机构输入选取理论作为判断依据，首先求取各个不同支链划分方式的结构约束反螺旋的最大线性无关组，然后计算机构自由度，最后求刚化机构主动副后映射到动平台的反螺旋系，并判断其线性相关性，从而确定支链划分的输入选取的合理性，其中满足输入选取理论的支链划分方式即为合理的支链划分方式。
- 螺旋理论 /
- 并联机构 /
- 支链划分 /
- 输入选取
Abstract: A three degrees of freedom (DOFs) parallel mechanism with limbs of embedding structures is a new type of parallel mechanism whose moving platform can continuously rotate for 360°, so this mechanism has a larger workspace. Comparing with the traditional mechanisms, the biggest difference among them is to share joint axes for each limb, which makes the structure more compact. However, this special mechanism leads to non-unique limb division method. Based on the above method, a method of reasonably dividing limbs is proposed. This method takes the degenerate-rank spatial parallel mechanism input selection theory as the basis of judgment. According to this theory, not all the limb division methods are correct. In judging, the first is to correctly calculate the freedom by using the existing three limb division method, the second is to calculate the structure constraint reciprocal screw and the rigid constraint reciprocal screw, finally the maximum linear independence group of the structure constraint reciprocal screw and the rigid constraint reciprocal screw is counted. So the input selection reasonableness of the limb division method can be verified, and the one which meets the input selection theory is the reasonable limb division method.
- screw theory /
- parallel mechanism /
- limb division /
- input selection

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参考文献(15)

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