2-PrRS-PR(P)S并联变胞机构伴随运动分析  

Analysis of the Parasitic Motion of 2-PrRS-PR(P)S Parallel Metamorphic Mechanism

作　　者：马琨[1] 马宏伟[1] 田海波[1] 董刚 Ma Kun;Ma Hongwei;Tian Haibo;Dong Gang(School of Mechanical Engineering,Xi'an University of Science and Technology,Xi'an 710054,China;Zhongping Information Technology Co.,Ltd.,China Pingmei Shenma Group,Pingdingshan 467099,China)

机构地区：[1]西安科技大学机械工程学院,陕西西安710054 [2]中国平煤神马集团中平信息技术有限责任公司,河南平顶山467099

出　　处：《机械传动》2019年第6期55-59,63,共6页Journal of Mechanical Transmission

基　　金：国家自然科学基金(50674075);陕西省科技统筹创新工程计划项目(2013KTCL01-02);陕西省自然科学基础研究计划项目(2015JM5235)

摘　　要：根据变胞理论,提出一种新型可变转动副轴线的2-PrRS-PR(P)S并联变胞机构,通过机构两个分支转动副轴线角度的改变实现机构变胞。首先,利用螺旋理论,对机构两个工作构态自由度进行分析;其次,根据机构特点,建立机构伴随运动的运动学模型,得到机构在不同构态的伴随运动和结构参数的联系;最后,利用仿真软件MATLAB得到机构不同构态结构参数对伴随运动影响的变化图。研究表明,该机构在不同构态存在不同方向的伴随运动,且伴随运动的大小随着机构参数的变化具有对称性。伴随运动的分析为机构的优化设计和误差分析提供了理论依据。Based on the theory of metamorphic,a novel parallel metamorphic mechanism of 2-PrRS-PR (P)S mechanism is proposed which the revolute pair of two limbs can change its rotation axis to achieve the metamorphic configuration. Firstly,the DOF of working configurations are analyzed by using the screw theo ry. Secondly,according the characteristic of the mechanism,the kinematics model of the parasitic motion is es tablished and the relationship between the parasitic motions and the parameters of the mechanism in different configurations are obtained. Finally, the diagram of the parasitic motion in different configurations is analyzed by simulation software MATLAB. The results show that the parasitic motion of the proposed mechanism has different directions in different configurations. The magnitude of the parasitic motion has symmetry with the change of the structure parameters. The analysis of the parasitic motion provides theoretical basis for optimiza tion design and error analysis of the mechanism.

关 键 词：并联机构 变胞机构 自由度分析 伴随运动 

分 类 号：TH112[机械工程—机械设计及理论]