3T2R混联机构运动学性能分析  

Kinematic and Performance Analysis of 3T2R Hybrid Mechanism

作　　者：曹浩峰 曹毅[1,2,4] 陈海 秦友蕾 丁锐 

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]宁波广播电视大学,浙江宁波315100 [4]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：《东华大学学报（自然科学版）》2016年第6期881-888,共8页Journal of Donghua University(Natural Science)

基　　金：国家自然科学基金资助项目(50905075);机械系统与振动国家重点实验室开放课题资助项目(MSV201407);江苏省食品先进制造装备技术重点实验室开放课题资助项目(FM-201402)

摘　　要：5自由度混联机构由完全各向同性的三维移动并联机构和2自由度转动的串联机构组成.此混联机构末端位置由两部分共同决定,姿态完全由串联部分决定.首先,求解了机构的自由度数目,并运用螺旋理论分析了自由度性质.然后,选取机构的驱动副,判断并联模块支链第5个转动副为消极副,从而简化了并联模块,方便了后续的分析.最后,分析了混联机构的运动学特征,利用运动影响系数求得其速度雅可比矩阵,并分析了机构的工作空间和奇异位形.该机构运动学解耦,计算方便,便于实时运动控制,同时机构工作空间大,无奇异位形,有很好的应用前景.The 5 -DOF（degree of freedom） hybrid mechanism is composed of a fully-isotropic three- dimensional translational parallel mechanism and a 2 DOF rotational serial mechanism. The position of the end-effector for the hybrid mechanism depends on the two parts, while the orientation is completely determined by the serial part. First of all, the number of degrees of freedom of the mechanism is calculated, and its characteristic is analyzed based on screw theory. Then, the driven pair of the mechanism is selected and further research shows that the fifth revolute pair in each limb of the parallel mechanism is inactive, these pave theoretical grounds for the following analyses. Finally, the kinematical characteristics of the hybrid mechanism are analyzed by deriving its velocity Jacobian matrix based on kinematic influence coefficient and analyzing its workspace and singularity. The hybridmechanism has a good application prospect owing to its kinematics decoupling, the large workspace and singularity-free characteristics.

关 键 词：混联机构 螺旋理论 运动学 工作空间 奇异位形 

分 类 号：TH112[机械工程—机械设计及理论]