基于广义杆组对多环路三移一转位移输出机构的型综合  

Type Synthesis of Multi-loop Mechanisms with Three Translational and One Rotational Displacement Parameters Based on Generalized Link Group

作　　者：张兴 牟德君[2,3] 张一同[2,3] 李维奇 王洪瑞[1] ZHANG Xing;MU Dejun;ZHANG Yitong;LI Weiqi;WANG Hongrui(Key Lab of Industrial Computer Control Engineering of Hebei Province, Yanshan University,Qinhuangdao 066004;Key Lab of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao 066004;Key Lab of Advanced Forging & Stamping Technology and Science of Ministry of National Education, Yanshan University, Qinhuangdao 066004)

机构地区：[1]燕山大学工业计算机控制工程河北省重点实验室,秦皇岛066004 [2]燕山大学河北省并联机器人与机电系统实验室,秦皇岛066004 [3]燕山大学先进锻压成型技术与科学教育部实验室,秦皇岛066004

出　　处：《机械工程学报》2019年第15期154-162,共9页Journal of Mechanical Engineering

基　　金：国家自然科学基金(61473112);河北省自然科学基金(E2011203193)资助项目

摘　　要：基于广义杆组提出了一种对多环路三移一转位移输出机构型综合的新方法。该方法把运动链当成广义杆组逐个添加在输出构件上,进一步扩展了Assar杆组法在空间的应用。分析了单环路到多环路杆组自由度与输出构件自由度和位移参数的关系,得到了添加自由度为0的广义杆组对输出构件自由度和位移参数的变化关系。综合了三移一转位移参数的杆组,建立了交集运算规则。通过组合两个广义杆组综合输出构件自由度为2、3、4单环路机构,再添加自由度为0广义杆组,得到了双环路机构。通过自由度为0广义杆组综合出多环路机构的例证,展现了该方法在空间机构综合方面的全面性和有效性。A new method to synthesize multi-loop mechanisms with three translational and one rotational displacement parameters is proposed in this paper. This method is based on generalized link group. It extends the unified link groups in plane and space by using kinematic links as a generalized link group added one-by-one to the output link. The internal relation on the change in the degree of freedom(DOF) and displacement parameters of the output link after adding a 0-DOF generalized link group are analyzed. The link groups with three translational and one rotational displacement parameters are synthesized, and its intersection operation rules are established. The 2-, 3-, and 4-DOF single-loop mechanisms are obtained by combining two generalized link groups. The dual-loop mechanisms are synthesized by adding a 0-DOF generalized link group. The multi-loop mechanisms are obtained by adding 0-DOF generalized link groups. Some novel mechanisms are synthesized to illustrate the effectiveness and comprehensiveness of the proposed method.

关 键 词：型综合 广义杆组 多环路 三移一转 位移参数 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]