全域恒平衡并联机构构型设计与平衡特性分析  

Design of Global Constant Balance Parallel Mechanism and Its Balance Performance Analysis

作　　者：赵延治[1,2] 梁博文[1,2] 边辉[1,2] 杨伟[1,2] 赵铁石[1,2] ZHAO Yanzhi;LIANG Bowen;BIAN Hui;YANG Wei;ZHAO Tieshi(Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System,Yanshan University,Qinhuangdao 066004;Key Laboratory of Advanced Forging&Stamping Technology and Science(Yanshan University),Ministry of Education of China,Qinhuangdao 066004)

机构地区：[1]燕山大学河北省并联机器人与机电系统重点实验室,秦皇岛066004 [2]先进锻压成形技术与科学教育部重点实验室(燕山大学),秦皇岛066004

出　　处：《机械工程学报》2019年第1期25-31,共7页Journal of Mechanical Engineering

基　　金：国家重点研发计划(2017YFE0112200);河北省自然科学基金(E2018203436);河北省高等学校科学技术研究(ZD2018024);中国博士后科学基金(2016M590212)资助项目

摘　　要：提出一类全域恒平衡并联机构构型,该机构由内外双层并联机构组成,其中内层平衡机构具有雅可比矩阵恒定的特性,在工作空间任意位姿下无须实时控制输入力的大小和方向即可提供恒定的平衡力。利用虚设机构法和影响系数法建立这类机构的动力学模型,以3-PUU/3-PRRR机构为例,分析验证了3-PRRR平衡机构相比与配重法所具有的优势。3-PUU/3-PRRR并联机构能够在整个工作空间,即全域内的任意位姿下实现恒定的平衡特性,论证了提出的这类全域恒平衡并联机构具有优良的平衡特性。A type of global constant balance parallel mechanism which is consisted by inter-outer layer parallel mechanism is proposed.The global constant balance performance of this kind of parallel mechanism can be achieved by just keeping the magnitude and direction of input force of inner balance mechanism because its Jacobian matrix is constant.Based on the influence coefficient method,the dynamics model of this kind of mechanism is established.With 3-PUU/3-PRRR parallel mechanism taken as an example,the advantages of 3-PRRR parallel mechanism as balance mechanism have been proved by compared with counterweight law.It is proved that the global constant balance parallel mechanism has excellent balance performance.

关 键 词：全域恒平衡 动力学 平衡特性 

分 类 号：TG156[金属学及工艺—热处理]