3-UPU-SPS并联机构及关节的分析  

Analysis on 3-UPU-SPS parallel mechanism and it's joint

作　　者：宋淑红[1] 施琴[1,2] 马履中[2] 

机构地区：[1]江苏联合职业技术学院镇江分院,江苏镇江212016 [2]江苏大学机械学院,江苏镇江212013

出　　处：《机械设计》2011年第3期56-59,64,共5页Journal of Machine Design

基　　金：国家自然科学基金资助项目(50375067);高等学校博士点专项科研基金资助项目(20050299002)

摘　　要：提出了一种新型三平移一转动4自由度空间并联机构,分析了机构运动输出特性,并计算了机构的自由度和耦合度,给出了该并联机构的正、反解,并讨论了该机构的工作空间。提出用无间隙的柔性关节,避免了因普通运动副间隙而造成的运动失真;利用ANSYS软件对新型柔性转动副进行有限元分析,表明所设计的柔性转动副在一定载荷和运动范围内是允许的。A new type of 3 translations 1 rotation 4 degrees of freedom parallel mechanism is put forward in this paper.The analysis on output characteristics of the mechanism movement was carried out,the degree of freedom and the degree of coupling of the mechanism was calculated,the forward and inverse kinematics solutions were given,and the workspace of the mechanism was discussed.The use of flexible joints with no clearance was suggested to avoid the movement distortion caused by clearance of common movement pairs.The finite element analysis about the new type of flexible revolute pairs was conducted by ANSYS software.The result shows that the designed flexible revolute pair is allowed with certain load and in the range of motion.

关 键 词：并联机构 反解 工作空间 自由度 有限元分析 

分 类 号：TH112[机械工程—机械设计及理论] TP29[自动化与计算机技术—检测技术与自动化装置]