一种2T2R型并联机构的运动学分析及仿真  

Kinematics Analysis and Simulation of a Novel 2T2R Parallel Mechanism

作　　者：许泽华 张彦斌[1] 丁丁[1] 肖荣浩 延鹏 杨保琳 杨李鑫 XU Zehua;ZHANG Yanbin;DING Ding;XIAO Ronghao;YAN Peng;YANG Baolin;YANG Lixin(School of Mechatronics Engineering,Henan University of Science and Technology,Luoyang Henan 471003,China)

机构地区：[1]河南科技大学机电工程学院,河南洛阳471003

出　　处：《机床与液压》2018年第17期5-9,共5页Machine Tool & Hydraulics

基　　金：国家自然科学基金资助项目(50905055);河南省高校科技创新团队支持计划项目(15IRTSTHN008);河南科技大学重大科技项目培育基金项目(2015XTD012);河南科技大学大学生创新创业训练计划项目(201610464001)

摘　　要：提出一种新型2T2R并联机构,该机构由静平台、动平台和连接两平台的两条PRS支链和两条PSS支链组成。基于螺旋理论对机构的自由度进行分析,并根据机构运动螺旋系、约束螺旋系和驱动螺旋系的线性相关性分析了机构的奇异位形;然后利用齐次坐标变换法建立机构的位姿方程,再通过对位姿态方程求导得出机构的速度、加速度正、逆解方程;最后给出数值算例,仿真结果验证了理论分析的正确性。A novel 2T2R parallel mechanism was presented,which consists of a static platform,a moving platform and a fixed base by two PRS chains and two PSS chains connected to the two platform.Firstly,the degree of freedom(DOF)of the mechanism was analyzed based on the screw theory.The singularity configurations of the mechanism were discussed by means of the linear correla.tion of motion,constraint or actuation screw system.Then the position and orientation equations were set up by using the method of homogeneous coordinate transformation.The velocity and acceleration equations were derived through differentiating the position and orientation equations as well.Finally,a numerical example was given.The simulation results show that the theoretic analysis is correct.

关 键 词：并联机构 运动学分析 螺旋理论 奇异性 

分 类 号：TH112[机械工程—机械设计及理论]