全对称4-URU并联机构运动性能分析与尺度优化  

Kinematic Performance Analysis and Scale Optimization of a Fully Symmetric 4-URU Parallel Mechanism

作　　者：刘勇 许勇[1] 吕叶萍 宋伟[1] Liu Yong;Xu Yong;Lü Yeping;Song Wei(School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China)

机构地区：[1]上海工程技术大学机械与汽车工程学院

出　　处：《机械传动》2019年第7期35-40,共6页Journal of Mechanical Transmission

基　　金：上海市2018年第一批工业互联网创新发展专项资金项目(201822930)

摘　　要：深入研究了一种能实现3T1R运动的全对称4-URU并联机构。基于螺旋理论验证了机构的自由度特征,建立了机构位置正逆解数学模型,确定了机构的奇异位形。采用数值搜索法求解了机构的工作空间,通过考察各尺度参数对工作空间的影响,优选得到了机构的关键尺度参数。相关数值计算及运动仿真结果表明,该机构运动学模型及性能分析结论正确合理,相关成果可为机构动力学分析、结构设计提供参考依据。A fully symmetric 4-URU parallel mechanism with 3T1R motion is studied.Based on the screw theory,the degree of freedom of the mechanism is verified,the mathematical model of the positive and neg ative solution of the mechanism position is established,and the singular configuration of the mechanism is ob tained.The workspace of the mechanism is solved by the numerical search method.The key scale parameters of the mechanism are optimized by examining the influence of various scale parameters on the workspace.The re sults of numerical calculation and motion simulation show that the kinematics model and performance analysis are correct and reasonable,and the results can provide references for mechanism mechanics analysis,structure design.

关 键 词：3T1R运动 运动性能 尺度优化 

分 类 号：TH112[机械工程—机械设计及理论]