无耦合完全各向同性1T1R并联机器人机构构型综合  

Type Synthesis of Fully-decoupled and Fully-isotropic 1T1R Parallel Robotic Manipulators

作　　者：陈海 曹毅[1,2,3] 秦友蕾 

机构地区：[1]江南大学,无锡214122 [2]江苏省食品先进制造装备技术重点实验室,无锡214122 [3]上海交通大学机械系统与振动国家重点实验室,上海200240

出　　处：《中国机械工程》2016年第5期589-595,共7页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(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);机械系统与振动国家重点实验室开放课题资助项目(MSV201407)

摘　　要：基于螺旋理论对具有无耦合、完全各向同性特点的1T1R并联机构进行了构型综合,综合的并联机构采用支链独立驱动原则,即并联机构的输出运动是由独立的输入驱动提供的。首先根据期望1T1R并联机构的运动特征(沿Z轴的移动和绕Z轴的转动)和完全各向同性并联机构的正逆雅可比矩阵必为对角阵的要求,利用螺旋理论构造满足所期望形式的正逆雅可比矩阵;其次根据正逆雅可比矩阵所要满足的条件,确定支链驱动副作用于动平台上的使动螺旋,再得到该使动螺旋对应支链上的表示驱动副的驱动螺旋和除驱动螺旋之外的其他运动螺旋系,据此可完成支链结构螺旋系的配置;最后根据约束螺旋理论依次取出两条支链连接动平台和定平台得到并联机构。通过这种方法得到大量无耦合完全各向同性1T1R并联机构。最后对综合出的一种并联机构进行了运动学分析,验证了构型方法的正确性。Based on the screw theory,a method of structural synthesis of fully-decoupled and fully？isotropic one-translational and one-rotational（1T1R）parallel mechanisms was proposed,the parallel mechanism adopted with driven-chain whose output link was provided by independent motors.Firstly,according to the prescribed characteristics of each mechanism limb,a methodology was proposed that made use of the screw theory to synthesize desired forms for both of the direct and the inverse Jacobian matrices.Secondly,according to the features both of the direct and the inverse Jacobian matrices,the actuation screws,actuated screws and mobile un-actuated screws of every limb were confirmed at first based on the reciprocal screw theory,and the leg structure was obtained.Then the structural synthesis of each kinematic chain for fully-isotropic 1T1 Rparallel robotic manipulators was performed in the light of different connectivities of the limbs.Finally,the anticipant manipulators were synthesized by using the rules and regulations of fully-isotropic parallel mechanisms and a lot of parallel mechanisms were obtained.Many of fully-decoupled and fully-isotropic 1T1 Rparallel mechanisms were synthesized by using the above method.Kinematical analysis about one of manipulators designed here show that the method is reasonable and correct.

关 键 词：螺旋理论 支链驱动 并联机构 型综合 

分 类 号：TH112[机械工程—机械设计及理论]