一种新型混联机构的设计与位置分析  

Design and Position Analysis of a New Hybrid Mechanism

作　　者：李旭[1] 武建德[1] 李瑞琴[1] 王鹏[1] 李少峰[1] 

机构地区：[1]中北大学机械与动力工程学院,山西太原030051

出　　处：《机床与液压》2017年第9期5-7,共3页Machine Tool & Hydraulics

基　　金：国家自然科学基金资助项目(51275486)

摘　　要：结合并联机构与串联机构的优势,设计了一种新型混联机构,该机构由3-UPU并联机构和2自由度旋转机构串联而成。对该机构进行了自由度分析。分步分析其位置正解,先运用封闭解法对3-UPU并联机构分析,得到3-UPU并联机构的位置正解;然后采用坐标变换分析在2自由度旋转机构作用下,3-UPU并联机构位置正解的变化,最终得出了该混联机构的位置正解。Combining the advantages of parallel mechanism and serialmechanism, a new hybrid mechanism was designed. It was built in series by the 3-UPU parallel mechanism and two degree of freedom （2-DOF） rotating mechanism. The freedom of it was ana-lyzed and the forwardsolutions of its position were analyzed step by step. By use of a closed solution, the 3-UPU parallel mechanism was analyzed to obtain the forward position of 3-UPU parallel mechanism. By use of the coordinate transformation, the change off or ward solution of position of the 3-UPU parallel mechanism was analyzed under the functional role of 2-DOF rotating mechanism. Final results are obtained for the hybrid mechanism of forward solution of position.

关 键 词：混联机构 位置正解 封闭解法 坐标变换 

分 类 号：TH112[机械工程—机械设计及理论]