完全解耦一移动三转动并联机构结构综合  

Structure synthesis of fully-decoupled one-translational and three-rotational parallel mechanisms

作　　者：秦友蕾 陈海 曹毅[1,3,4,2] 

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 [4]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

出　　处：《机械设计》2017年第6期23-29,共7页Journal of Machine Design

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);上海交通大学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：为综合得到一移动三转动(1T3R)完全解耦并联机器人构型,基于G_F集理论提出一种简单而有效的构型综合方法。首先阐述G_F集的基本概念、运算法则,并联机构数综合;其次给出机构输入运动特征选择原则和分支设计准则,确保了并联机构运动解耦性;然后根据该构型综合原理,完成1T3R四自由度完全解耦并联机构型综合具体过程,得到了大量新构型;最后,针对所综合出的一种新型1T3R并联机构,运用螺旋理论求解其机构的自由度,同时求得其雅克比矩阵,验证了该机构的完全解耦性,进一步证明了该构型方法的有效性。In order to obtain struct ure of fully-decoupled one-translational and three-rotational（1T3R） parallel mechanisms,a very simple yet very effective structure design method is proposed based on G_F set.Firstly,the basic concept of GF set,algorithms and the type synthesis principle,requirements for rotation based on G_F set are introduced.Secondly,the selection criterion of the input pair and type synthesis principle of decoupled branches are given,therefore it ensures that the various branches＇ input are decoupled.According to the type synthesis theory,specific process for structural synthesis of 1T3R five degrees of freedom decoupled parallel mechanism is finished,a lot of new mechanisms are attained simultaneously.Finally,screw theory is applied to solve the degree of freedom of the parallel mechanism synthesized above.The expression of the Jacobian matrix is deduced which validated the decoupling feature of the mechanism.In addition it demonstrates the effectiveness of the novel method of structural synthesis for parallel mechanisms.

关 键 词：并联机构 型综合 GF集 解耦 

分 类 号：TH112[机械工程—机械设计及理论]