基于方位特征方程的2T2R并联机构拓扑综合与分类  

Topological Structural Synthesis and Classification of 2T2R Parallel Mechanism Based on POC Equations

作　　者：孙驰宇[1] 沈惠平[1,2] 袁军堂[1] 杨廷力[2] SUN Chiyu;SHEN Huiping;YUAN Juntang;YANG Tingli(School of Mechanical Engineering,Nanjing University of Technology and Engineering,Nanjing 210094,China;Research Center for Advanced Mechanism Theory,Changzhou University,Changzhou 213016,China)

机构地区：[1]南京理工大学机械工程学院,南京210094 [2]常州大学现代机构学研究中心,常州213016

出　　处：《农业机械学报》2018年第11期409-418,共10页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金项目(51475050)

摘　　要：基于方位特征(POC)集方程的并联机构型综合方法,给出了可实现两平移两转动(2T2R)并联机构(Parallel mechanism,PM)的型综合过程和方法,包括基于拓扑等效替代的复杂支路综合方法、支路几何装配条件的判定方法及驱动副的判定方法等,得到了15种2T2R构型,其中10种为新构型;对这些构型按支路结构和动平台数目进行分类,并进行拓扑特征分析,得到其所包含的AKC(Assure运动链)(包括独立回路数、耦合度)、自由度类型和运动解耦性。本文综合出的构型结构较为简单、易于装配,具有一定的实用价值。The process of two translation and two rotation(2T2R)parallel mechanism(PM)type synthesis was systematically discussed according to the method of topological structural synthesis of parallel mechanism based on position ad orientation characteristic(POC)equations.The structure synthesis of complex branches,the method of judging geometric assembly condition of parallel mechanism and the judgment of drive unit of the parallel mechanism were all illustrated with examples.The type synthesis of hybrid single open chain(HSOC)branch chains was the foundation of the type synthesis of parallel mechanism,five new HSOC branches were proposed based on the complex branch synthesis method by the idea of equivalent substitution of topology structure.Totally 15 kinds of 2T2R parallel mechanisms were synthesized and classified according to branch structure and number of moving platform.Totally 10 kinds of them were new structures.Furthermore,the topological characteristics of them were analyzed,including the Assure kinematic chain(AKC),number of independent displacement equations for parallel mechanisms,degree of coupling,type of degree of freedom(DOF)and motion decoupling.In addition,according to the characteristics of topological structure,the 2T2R mechanism was classified and analyzed.These structures were simple and easy to be assembled and manufactured.All these new structures had practical value.

关 键 词：并联机构 两平移两转动输出 机构型综合 方位特征集 

分 类 号：TH112[机械工程—机械设计及理论]