一种新型9-3可重构并联机构的设计、拓扑特性与重构分析

徐帅; 尤晶晶; 沈惠平; 叶鹏达

doi:10.13433/j.cnki.1003-8728.20200635

一种新型9-3可重构并联机构的设计、拓扑特性与重构分析

doi: 10.13433/j.cnki.1003-8728.20200635

徐帅^1,,
尤晶晶^{1, 2, ,},
沈惠平³,
叶鹏达¹

1.
南京林业大学机械电子工程学院, 南京 210037
2.
江苏省精密与微细制造技术重点实验室, 南京 210016
3.
常州大学机械与轨道交通学院, 江苏常州 213016

基金项目:

国家自然科学基金项目 51405237

国家留学基金项目 201908320035

详细信息

作者简介:
徐帅(1995-), 硕士研究生, 研究方向为机器人机构学, 1766513661@qq.com

通讯作者:
尤晶晶, 副教授, 硕士生导师, youjingjing251010@126.com

中图分类号: TH112
计量
- 文章访问数: 122
- HTML全文浏览量: 29
- PDF下载量: 13
- 被引次数: 0
出版历程
- 收稿日期: 2021-05-09
- 刊出日期: 2023-04-25

Design Topology Characteristics and Reconstruction Analysis of a Novel 9-3 Reconfigurable Parallel Mechanism

XU Shuai^1
,,
YOU Jingjing^{1, 2
, ,},
SHEN Huiping³,
YE Pengda¹

1.
College of Mechanical and Electronic Engineering, Nanjing Forestry University, Nanjing 210037, China
2.
Jiangsu Key Laboratory of Precision and Micro-Manufacturing Technology, Nanjing 210016, China
3.
School of Mechanical Engineering and Rail Transit, Changzhou University, Changzhou 213016, Jiangsu, China

摘要

摘要: 可重构并联机构具有变自由度及变构型的优点, 设计了一种零耦合度、含3条冗余支链的新型9-3可重构并联机构。基于方位特征方程的并联机构拓扑结构设计理论与方法, 创建了并联机构拓扑分析的模块化公式, 并解析了机构的拓扑特性。基于一种可转换主、从运动及锁合的变胞移动副, 利用主动模式与从动模式, 将9-3型可重构并联机构转换为6-3A和6-3B这两种构型, 并计算了它们的拓扑指标。结果显示, 它们的耦合度分别为0和1。利用锁合模式, 将6-3A型并联机构进行重构, 得到了5类少自由度并联机构。特别地, 以一种三自由度重构构型为例, 详细分析了其拓扑特性。
- 并联机构 /
- 重构 /
- 拓扑特性 /
- 耦合度
Abstract: A novel 9-3 reconfigurable parallel mechanism with zero coupling degree and three redundant branches was designed in this paper. Based on the theory and method of topology design of the position and orientation characteristic equation, a modular formula for topology analysis of the parallel mechanism was established, and topological characteristics of the mechanism and reconstructed configuration are analyzed. Based on a metamorphic mobile pair which can convert the master and slave movements and lock, the type 9-3 reconfigurable parallel mechanisms were converted into two configurations, 6-3A and 6-3B, with active mode and driven mode, and their topological indices were calculated. The results show that the coupling degree of 6-3A and 6-3B is 0 and 1, respectively. Furthermore, the 6-3A parallel mechanism was reconstructed to obtain the low-degree of freedom parallel mechanism. A total of 5 classes and 12 configurations were listed. In particular, a three-degree of freedom reconstruction configuration as example, its topological properties are analyzed in detail.
- parallel mechanism /
- reconstruction /
- topology property /
- coupling degree

HTML全文

图 1 9-3型可重构并联机构的机构简图

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图 2 变胞移动副3种工作模式

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图 3 两类构型的结构简图

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图 4 并联机构的设计流程图

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图 5 机构DOF的求解流程图

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图 6 9-3台体型可重构并联机构的等效拓扑结构图

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图 7 6-3A≮3-2-1≯型并联机构的拓扑结构图

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图 8 6-3B≮2-2-2≯型并联机构的拓扑结构图

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图 9 <1-1-1>构型结构简图

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表 1 重构构型的拓扑结构特征

锁合数	拓扑类型	配置方式	自由度	耦合度
1	<1-0-0>	9	5	0
2	<2-0-0>	9	4	0
	<1-1-0>	27	4	0
	<3-0-0>	3	3	0
3	<2-1-0>	54	3	0
	<1-1-1>	27	3	0
4	<3-1-0>	18	2	0
	<2-2-0>	27	2	0
	<2-2-1>	81	2	0
	<3-2-0>	18	1	0
5	<3-1-1>	27	1	0
	<2-2-1>	81	1	0

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