一种可重构、部分运动解耦的空间n维平移1维转动并联机构的拓扑及其运动学设计  

Topology and Kinematics Design of Spatially nT1R-type Reconfigurable and Partial Motion Decoupling Parallel Mechanism

作　　者：沈惠平[1] 赵迎春 许可[1] 张震[1] 杨廷力[1] SHEN Huiping;ZHAO Yingchun;XU Ke;ZHANG Zhen;YANG Tingli(Research Center for Advanced Mechanism Theory,University of Changzhou, Changzhou,Jiangsu,213016)

机构地区：[1]常州大学现代机构学研究中心,常州213016

出　　处：《中国机械工程》2019年第4期413-422,共10页China Mechanical Engineering

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

摘　　要：根据基于方位特征(POC)方程的并联机构拓扑设计理论与方法,提出了一种动平台可重构的三自由度并联机构RPa3R-R+RSS。对该机构的运动输出特性进行分析,表明该机构动平台能产生空间n维平移1维转动(nT1R,n=2,3)的输出运动且具有部分运动解耦性,通过动平台的重构可赋予动平台的转动绕3个特定转动轴x、y、z输出;计算了机构的自由度和耦合度;基于序单开链的运动学建模原理,建立了该机构动平台绕任意转动轴输出构型下的通用运动学模型;对动平台绕z轴转动输出构型下的运动学进行了分析,包括位置正反解、工作空间形状与大小、动平台转动能力、机构的奇异位形条件,以及机构的速度和加速度计算与仿真分析。According to the design theory for parallel mechanism based on positions and orientation characteristics(POC),a new 3-DOF PM with reconfigurable moving platform RPa3R-R+RSS,was proposed.Firstly,the output characteristics of the PM were analyzed,which show that the moving platform may produce n-translation and 1-rotation(n T1R,n=2,3)and has partial motion decoupling.The PM may produce a specific rotational output motion around one of three specific axes x,y,z by reconfigurable architecture of the moving platform.The degree of freedom and the coupling degree of the PM were calculated.Secondly,a general kinematics model of the PM for a configuration of arbitrary rotational shaft of the moving platform was established according to the kinematic molding principles based on the ordered single-open-chain(SOC)units.Lastly,the kinematics of the output configuration of moving platform with rotating around the z axis were analyzed,including the positive and inverse position solutions,workspace,rotation capability,singularity conditions,and the calculation and simulation of velocity and acceleration.

关 键 词：并联机构 可重构 运动学分析 寄生运动 工作空间 奇异位形 

分 类 号：TH112[机械工程—机械设计及理论]