解耦混联机构的构型综合  

Structural Synthesis of Decoupled Hybrid Mechanism

作　　者：秦友蕾 曹毅[1,3,2] 陈海 

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 [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：《机械科学与技术》2016年第11期1679-1685,共7页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金项目(50905075);机械系统与振动国家重点实验室开放课题项目(MSV201407);江苏省食品先进制造装备技术重点实验室开放课题项目(SJZZ16-0212)资助

摘　　要：为综合得到解耦混联机器人构型,基于GF集理论提出一种简单而有效的解耦混联机构型综合方法及其构型法则。首先阐述GF集的概念及运算法则;其次通过GF集元素组合和转动轴线迁移定理构造混联拓扑结构,并给出机构输入运动副选择原则和解耦分支设计准则,确保了混联机构运动解耦性;然后根据该构型综合原理,完成2T2R四自由度解耦混联机构型综合具体过程;最后,针对所综合的解耦混联机构,运用混联机构末端分析方法求解其机构的自由度,同时求得其雅克比矩阵,验证了该机构的解耦特性,进一步证明了该构型方法的有效性。In order to obtain structures of hybrid robot, a very simple yet very effective structural design of decoupled hybrid mechanism and its principle for type synthesis are proposed based on GF set. The basic concept and algorithms for Gr set are firstly introduced. Secondly, the topological arrangements of hybrid mechanisms can be developed by the elements of Gr set combination and rotation axis transfer theorem. Following the selection criterion of the input pair and type synthesis principle of decoupled branches are given, therefore it ensures that the various branches＇ inputs are deeoupled. According to the type synthesis theory, specific process for structural synthesis of 2T2R four degrees of freedom decoupled hybrid mechanism is finished. Finally, a method is proposed to analyze kinematics characteristic of hybrid mechanisms synthesized above. The expression of the Jacobian matrix was deduced which validates the deeoupling feature of the mechanism, in addition, it demonstrates the effectiveness of the novel method of structural synthesis for hybrid mechanisms.

关 键 词：混联机构 G集 解耦 型综合 

分 类 号：TH112[机械工程—机械设计及理论]