一种四自由度并联机构运动学及传动性能分析  

Kinematics and Transmission Performance Analysis of a 4-DOF Parallel Mechanism

作　　者：张超[1] 李彬[1,2] 赵新华[1,2] ZHANG Chao;LI Bin;ZHAO Xin-hua(Tianjin University of Technology,Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control,Tianjin 300384,China;National Demonstration Center for Experimental Mechanical and Electrical Engineering Education(Tianjin University of Technology),Tianjin 300384,China)

机构地区：[1]天津理工大学天津市先进机电系统设计与智能控制重点实验室,天津300384 [2]机电工程国家级实验教学示范中心(天津理工大学),天津300384

出　　处：《机械设计与制造》2019年第9期244-248,共5页Machinery Design & Manufacture

基　　金：国家自然科学基金资助项目(51275353,51205289);天津市智能制造重大科技专项项目(15ZXZNGX00040,15ZXZNGX00270)

摘　　要：以2-RPU&2-SPS并联机构为研究对象,首先借助螺旋理论对机构的自由度的数目和属性进行了分析,该机构可实现空间两转动和两平动运动(2R2T)。在此基础上对机构的位置正反解进行了研究,对于机构位置反解,给定机构独立运动参数可获得其显式表达;对于机构正解,可通过求解非线性方程组获得其数值解。另外,通过建立机构的雅克比矩阵,并利用机构支链输出传动效率指标对机构的运动学传动性能进行研究,为后续机构样机开发与实际应用奠定理论基础。In this paper,a 2-RPU&2-SPS parallel mechanism is studied.Firstly,the number and property of degrees of freedom of the mechanism are confirmed by screw theory,this mechanism can realize two rotational and two translational movement.Secondly,the position analyses are invested.For the inverse position analysis,the only expressions are obtained in an explicit form,and the forward position problem is solved by calculating a set of non-linear equation system.Finally,the kinematic transmission performance analyses of the mechanism have been analyzed by establishing the overall Jacobian matrix of the parallel manipulator and defining transmission efficiency coefficient between limbs.This work will provide the theoretical basis for prototype development and application of the mechanism.

关 键 词：2-RPU&2-SPS并联机器人 运动分析 雅克比矩阵 传动性能 

分 类 号：TH16[机械工程—机械制造及自动化] TH112