基于分形理论的2T2R混联机构型综合  

Type synthesis of 2T2R hybrid mechanisms based on fractal theory

作　　者：葛姝翌 曹毅[1,2,3,4] 朱景原 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]江南大学江苏省食品先进制造装备技术重点实验室,江苏无锡214122 [3]上海交通大学系统控制与信息处理教育部重点实验室,上海200240 [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：《计算机集成制造系统》2017年第7期1529-1537,共9页Computer Integrated Manufacturing Systems

基　　金：国家自然科学基金资助项目(50905075;51505190);江苏省"六大人才高峰"资助项目(ZBZZ-012);教育部中央高校基本科研业务专项基金重点资助项目(JUSRP51316B);系统控制与信息处理教育部重点实验室开放课题资助项目(SCIP201506);机械系统与振动国家重点实验室开放课题资助项目(MSV201407)~~

摘　　要：为综合得到具有两移两转运动特征的混联机构,基于分形理论和机构拓扑图,提出一种系统的混联机构型综合与分析方法。介绍了机构拓扑图和分形理论的概念及关系;叙述了机构的运动特征和运算法则,运动特征包括路径、支链和运动副的定义与表达形式,运算法则含有路径法则串并联计算规则;建立了混联机构与分形的关系模型,归纳出混联机构构型综合的具体步骤,并综合出具有两转两移运动特征的混联机构。提出混联机构运动特征的分析方法,并用该方法分析了所综合出的两转两移混联机构的末端运动特征,验证了该构型的正确性,证实了所述方法的可行性。From the view of fractal theory and topological graph,a systematic synthesis methodology and a novel analysis approach of two-Translational and two-Rotational（2T2R）hybrid mechanisms were proposed.The basic concept of topological graph and the fractal theory were introduced.The kinematic characteristic and algorithm were expounded,the kinematic characteristic was composed by route,branch and kinematic pair,while the algorithm was comprised of route rule and the calculation rule of union-intersection-preserving.The model between hybrid mechanism and fractal theory was established,and the procedure of type synthesis methodology was concluded in detail.Meanwhile,the three translational hybrid mechanism was synthesized.A method for analyzing the kinematic characteristic of 2T2R hybrid mechanisms was proposed and applied to the synthesized structure by which the validity of the proposed methodology was demonstrated.

关 键 词：两转两移混联机构 构型综合 分形理论 运动特征 

分 类 号：TH112[机械工程—机械设计及理论]