3-RRR平面并联机构的拓扑结构优化及其运动学性能改善

许可; 沈惠平; 邓嘉鸣; 杨廷力

doi:10.13433/j.cnki.1003-8728.2017.1211

3-RRR平面并联机构的拓扑结构优化及其运动学性能改善

doi: 10.13433/j.cnki.1003-8728.2017.1211

1.
常州大学现代机构学研究中心, 江苏常州 213016

基金项目:

国家自然科学基金项目（51375062，514755050）与江苏省重点研发计划项目（BE2015043）资助

详细信息

作者简介:
许可(1991-),硕士研究生,研究方向为并联机器人,1375928645@qq.com

通讯作者:
沈惠平(联系人),教授,博士生导师,shp65@126.com

计量
- 文章访问数: 236
- HTML全文浏览量: 31
- PDF下载量: 9
- 被引次数: 0
出版历程
- 收稿日期: 2016-09-09
- 刊出日期: 2017-12-15

Optimizing Topological Structure of 3-RRR Plane Parallel Mechanism and Improving its Kinematic Performance

1.
Research Center for Advanced Mechanism Theory, Changzhou University, Jiangsu Changzhou 213016, China

摘要

摘要: 典型3-RRR平面并联机构是一种具有两平移一转动输出的平面定位、传送装置，其应用较广。首先计算出该机构的耦合度k=1；其次，基于结构降耦原理，设计出一种零耦合度（k=0）的平面定位传送降耦机构，从而极易求得其位置正解解析式，且使得动平台的输入-输出具有运动解耦性；进一步，对该降耦机构的工作空间、奇异位形进行了分析。比较表明：降耦机构比原始机构的综合性能更为优越，结构降耦是机构拓扑结构优化的一种有效方法。
- 平面并联机构 /
- 位置正解 /
- 结构降耦 /
- 性能分析
Abstract: The typical 3-RRR planar parallel mechanism has two translations and one rotation and thus is a kind of extensively applied plane location and transfer equipment. Firstly, the coupling degree of the parallel mechanism is calculated to be k=1. Then, based on the structural coupling reduction principle, this paper designs its coupling reduction mechanism with zero coupling degree, which not only leads to its easy analytic direct kinematic solution but also makes the input and output of the moving platform partially motion-decoupling. Moreover, the workspace and singularity of this coupling reduction mechanism are also performed. Finally, the comprehensive comparison of two types of the coupling reduction mechanism shows that the main performance of the structural coupling reduction mechanism is better than that of the original mechanism, indicating that the structural coupling reduction mechanism is an effective method for optimizing the topological structure.
- planar parallel mechanism /
- direct kinematics /
- topological structure /
- coupling-reduction mechanism

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参考文献(23)

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