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

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

上海工程技术大学机械与汽车工程学院，上海　201620

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
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- 文章访问数: 213
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- PDF下载量: 31
- 被引次数: 0
出版历程
- 收稿日期: 2019-05-31
- 刊出日期: 2020-06-05

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

School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai 201620, China

摘要

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。
- 非过约束 /
- 消极运动副 /
- 构型设计 /
- Goldberg机构
Abstract: In order to weaken the strict geometric constraint relationship between the axes of the kinematic pairs in the overconstrained mechanism and reduce the assembly error and difficulty of the mechanism, a single closed-loop non-overconstrained mechanism configuration design method with inactive joints is proposed. The degree of freedom analysis method of non-overconstrained mechanism with inactive joints is presented. For overconstrained Goldberg mechanism, the non-overconstrained Goldberg mechanism RSRRR is obtained by adding two inactive joints to a single rotation pair. The screw theory proves that the overconstrained/non-overconstrained Goldberg mechanism is completely equivalent in kinematics, and input and output motion parameters of non-overconstrained Goldberg mechanism is studied, so as to verify the correctness of the single closed-loop configuration design method of the non-overconstrained Goldberg mechanism proposed in this paper.
- non-overconstrained /
- inactive joints /
- configuration design /
- Goldberg mechanism

HTML全文

图 1 空间全R副单闭环过约束机构

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图 2 单环非过约束机构构型设计流程

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图 3 Goldberg机构

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图 4 非过约束Goldberg机构简图

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图 5 过约束/非过约束Goldberg机构运动旋量

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图 6 Bennett机构结构参数

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图 7 非过约束Goldberg机构角位移曲线

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