一种新型低耦合并联操作手及其运动学  

A Novel Type Parallel Manipulator with Lower Coupling-Degree and Its Kinematics

作　　者：邓嘉鸣[1] 邵国为 李家宇[1] 孟庆梅[1] 沈惠平[1] 杨廷力[1] DENG Jiaming;SHAO Guowei;LI Jiayu;MENG Qingmei;SHEN Huiping;YANG Tingli(School of Mechanical Engineering, Changzhou University, Changzhou 213164, China)

机构地区：[1]常州大学机械工程学院,江苏常州213164

出　　处：《常州大学学报（自然科学版）》2018年第3期50-61,共12页Journal of Changzhou University：Natural Science Edition

基　　金：国家自然科学基金资助项目(51375062;514755050);江苏省重点研发计划项目(BE2015043)

摘　　要：根据基于方位特征(POC)方程的并联机构设计理论和方法,首先,提出了一种可实现SCARA运动的新型低耦合度的四自由度并联操作手CU-2PaRSS-Ⅱ,详细描述了该机构的拓扑结构;其次,计算了机构的耦合度,并建立了机构的正反解模型;然后,对该机构工作空间内的运动性能进行了分析,定量给出了机构的2个运动指标——工作空间体积和转动能力。最后,设计了该操作手样机的三维CAD模型。结果表明:该操作手比I4,Cross-Ⅳ等结构简单,但其工作空间及动平台转动能力相对较大,具有较好的开发、应用价值。By using POC equation based on the topological structure synthesis theory and method,a novel 4-DOF SCARA type CU-2PaRSS-Ⅱ parallel mechanism（PM）with low coupling degree is presented.Firstly,the topological structure of the mechanism is described in brief;secondly,the coupling degree of the mechanism is calculated,and then the forward and inverse models of the mechanism are established;after that,the kinematic performances of the work space of the mechanism are analyzed,and two indexes of the mechanism are given quantitatively,which are the volume of working space and the rotation ability of the moving platform.Lastly,the 3D model for the prototype of the manipulator is designed.The results show that the manipulator is simpler than I4 and Cross-Ⅳ in structure,but the volume of the work space and the rotation ability of the moving platform are larger relatively,which has good values in development and application.

关 键 词：并联机构 方位特征集 运动学 三平移一转动并联机构 位置正解 

分 类 号：TH112[机械工程—机械设计及理论]