3T1R并联机构结构设计与位置分析  

Structure Design and Displacement Analysis of 3T1R Parallel Mechanism

作　　者：石志新[1] 叶梅燕[2] 罗玉峰[1] 杨廷力[3] 

机构地区：[1]南昌大学机电工程学院,南昌330031 [2]南昌大学理学院,南昌330031 [3]中国金陵石化公司,南京210037

出　　处：《农业机械学报》2016年第8期364-369,共6页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金项目(51365036;51475050;51265036)

摘　　要：基于方位特征集理论(POC),设计并研究了一种三平移一转动(3T1R)并联机构。首先,应用方位特征集方法,综合了一批满足功能要求的并联机构;然后,综合考虑实际应用要求,从中优选出一种具有开发潜力的并联机构,分析结果表明:该机构具有全对称性、可折叠性及承载能力强、工作空间大等特点;最后结合实例给出了优选机构的位置正、逆解方程及其求解算法,结果表明:其位置逆解方程可解析求解,且最多存在16组解;而正解方程不能解析求解,且最多存在8组解。The parallel manipulator with three-dimension translation and one-dimension rotation（ in short,3T1R） has wide requirements in processing technology,such as high-speed catch,positioning assembly,transportation. A novel 3T1 R parallel manipulator was presented based on the theory of position and orientation characteristics（ in short, POC）. A complete type synthesis of parallel manipulator that can perform 3T1 R motion was made based on the theory of POC. Then,one topology was selected from the different possibilities of parallel manipulators after imposing some practical requirements. The selected parallel manipulator was composed of four identical arms and a single platform,and the composite parallelogram structure in each arm brought in better limb stiffness. The parallel manipulator had characteristics of full symmetry,fold ability,good stiffness,large work space,and so on. In addition,the forward and inverse displacement equations of the parallel manipulator were derived,which had great importance when implemented in velocity control. The inverse position equation had 16 solutions at most,and the forward position equation only had 8 solutions at most. Finally,the solution algorithm of the forward displacement equations was given,and a numerical example was provided to confirm the efficiency of the solution procedure. The research results had a reference value for follow-up studies of the new manipulator and its application.

关 键 词：三平移一转动并联机构 结构特性 位置分析 

分 类 号：TH112[机械工程—机械设计及理论]