基于螺旋理论的三移两转混联解耦机构型综合  

Structure synthesis of three-translational and two-rotational decoupled hybrid mechanisms based on screw theory

作　　者：陈海[1,2] 曹毅[1,2,3,4] 秦友蕾 葛姝翌 刘凯[1,2] 丁锐[1,2] 

机构地区：[1]江南大学机械工程学院,江苏无锡214122 [2]上海交通大学系统控制与信息处理教育部重点实验室,上海200240 [3]上海交通大学机械系统与振动国家重点实验室,上海200240 [4]哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江哈尔滨150080

出　　处：《计算机集成制造系统》2016年第11期2563-2572,共10页Computer Integrated Manufacturing Systems

基　　金：国家自然科学基金资助项目(50905075);江苏省"六大人才高峰"资助项目(ZBZZ-012);机械系统与振动国家重点实验室开放课题资助项目(MSV201407);机器人技术与系统国家重点实验室开放基金资助项目(SKLRS-2016-KF-06);系统控制与信息处理教育部重点实验室开放基金资助项目(scip201506);江苏省普通高校学术学位研究生科研创新计划资助项目(SJZZ16-0212)~~

摘　　要：针对3T2R混联解耦机构的构型综合问题,提出一种基于螺旋理论的混联解耦机构构型综合方法。首先基于运动基组合分配理论,给出3T2R五自由度混联机构所有可能的结构类型;然后基于螺旋理论和支链独立驱动原则提出完全解耦并联机构构型综合方法,运用该方法可以实现各类少自由度完全解耦并联机构的构型综合;再将综合的完全解耦并联单元构型到已有的混联构型中,得到解耦混联机构构型,并用该方法完成了3T2R类五自由度混联解耦机构构型综合;最后根据约束几何分析法分析了所综合的一种混联机构的瞬时特性,给出了运动学分析,推导了机构的雅可比矩阵,验证了机构的解耦特性。To synthesize decoupled Three-Translational（3T）and Two-Rotational（2R）hybrid mechanisms,a methodology of structural synthesis was proposed based on screw theory.All possible configuration types of 3T2 Rhybrid mechanism were proposed on the basis of kinematic element＇s combination and distribution.A method of type synthesis for fully-decoupled parallel mechanisms was proposed in accordance with the screw theory and the drivenchain principle,and the method was applied to accomplish the type synthesis for fully-decoupled lower-mobility parallel mechanisms.The type synthesis of fully-decoupled hybrid mechanism could be carried out by substituting theparallel mechanism with decoupling characteristic into hybrid mechanism,and was used to synthesize 3T2 Rhybrid mechanism.The instantaneity and kinematics of a synthesized 3T2 R hybrid mechanism were analyzed based on method of geometric constraint analysis and the decoupling characteristic of hybrid mechanism was verified by the deduced Jacobian matrix.

关 键 词：型综合 解耦 混联机构 螺旋理论 

分 类 号：TH112[机械工程—机械设计及理论]