一种Delta变形机构及其基于工作空间分析的尺度设计  

A Delta-derived mechanism and its scale design based on working space analysis

作　　者：李家宇[1] 沈惠平[1] 孟庆梅[1] 邓嘉鸣[1] 张震[1] LI Jia-yu;SHEN Hui-ping;MENG Qin-mei;DENG Jia-ming;ZHANG Zhen(Research Center for Advanced Mechanism Theory,Changzhou University,Changzhou 213016)

机构地区：[1]常州大学现代机构学研究中心,江苏常州213016

出　　处：《机械设计》2018年第7期92-98,共7页Journal of Machine Design

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资助项目(BE2015043)

摘　　要：根据基于方位特征集(Position and Orientation Characteristics,POC)方程的并联机构拓扑结构设计理论和方法,提出一种Delta变形机构2-R//R//P(4R)//R茌1-RSS,记为:Delta-CU;并证明该机构能实现三平移输出运动;同时导出了其位置逆解求解方程;进一步针对动、静平台圆周半径之差(R-r)及与主动臂l1、从动臂长l2三者大小关系,分3种情况进行分析讨论,得到了在满足工作空间最大时,杆长(R-r),l1与l2之间的最佳匹配关系。Delta-CU机构具有结构简单、加工装配维修容易等优点,可替代Delta机构。文中研究为Delta-CU机构的尺寸优化、样机设计及其动力学分析奠定了基础。According to the theory and method of topological structure design of parallel mechanism based on the POC（Position and Orientation Characteristics）equation,a kind of Delta-derived mechanism 2-R//R//P（4 R）//R茌1-RSS（Delta-CU）is presented,which has proved that it can achieve three translations output. Besides,the equation of inverse positional solution is derived. Furthermore,with regard to the size relations among the radius difference（R-r） of dynamic and static platform,the driving arm（l1） and driven arm（l2）,three situations are analyzed,and the optimal matching relationship between（R-r）,l1 and l2 is obtained based on the maximum workspace. The Delta-CU mechanism has such advantages as simple structure,easy assembly and maintenance,etc.,which serves as an alternative to the Delta mechanism. This paper lays a foundation for the size optimization,prototype design and dynamic analysis of the Delta-CU mechanism.

关 键 词：DELTA机构 方位特征集 位置反解 工作空间 

分 类 号：TH112[机械工程—机械设计及理论]