基于单开链单元的3T2R混联机器人构型综合  

Type Synthesis of Hybrid Robot Mechanism with 3T2R based on Single Opened Chain Unit

作　　者：盛卫锋 陈海 秦友蕾 曹毅 

机构地区：[1]江南大学机械工程学院,江苏无锡214122 [2]江苏省食品先进制造装备技术重点实验室,江苏无锡214122

出　　处：《机械传动》2016年第3期28-34,共7页Journal of Mechanical Transmission

基　　金：国家自然科学基金(50905075);江苏省普通高校学术学位研究生科研创新计划项目(KYLX-1115);教育部中央高校科研业务专项基金重点项目(JUSRP51316B);机械系统与振动国家重点实验室开放课题项目(MSV201407)

摘　　要：通过分析少自由度串联机器人机构和并联机器人机构的构型特点,基于运动螺旋线性无关的原理,以单开链少自由度串联机构为单元,提出了一种系统有效的混联机构构型综合的新方法和单并联、多并联混联机构的概念及表示方法。首先根据螺旋理论构造单开链3T2R五自由度串联机构,其次将并联机构视为一个复合运动单元构型到串联机构中,替代串联机构中运动基相同且连续的运动单元,从而获得3T2R五自由度混联机器人构型。最后通过运动螺旋的线性组合生成其他混联机构。By analyzing the structures characteristics of the lower- mobility serial kinematic mechanism（SKM） and parallel kinematic mechanism（ PKM）,based on the linear independence theory of kinematic screws and taking of the lower- mobility SKM with single opened chain as unit,a systematic and effective type synthesis method is proposed for hybrid mechanism including the definition and symbol denotation method of both hybrid robots with a parallel mechanism and multi- parallel mechanisms. Firstly,the type synthesis of3T2 R 5- Do F SKMs with single opened chain are constructed based on the screw theory,then the type synthesis of 3T2 R hybrid mechanisms are accomplished by regarding PKM as a complex kinematic unit and replacing an equal DOF kinematic chain unit in lower- mobility SKM with single opened chain unit. Finally,other hybrid mechanisms are generated by the linear combination of the kinematic screw.

关 键 词：单开链 螺旋理论 串联机构 混联机器人机构 

分 类 号：TH112[机械工程—机械设计及理论]