2UPR-SPR并联机构姿态能力分析  

Orientational Capability Analysis of a 2UPR-SPR Parallel Manipulator

作　　者：车林仙[1,2] 张荣[1] 张彩芳[1] 王桃芬[1] Che Linxian;Zhang Rong;Zhang Caifang;Wang Taofen(School of Mechanical Engineering,Chongqing Vocational Institute of Engineering,Chongqing 402260,China;Chongqing Municipal Key Laboratory of Mechanism Design and Control for Manufacturing Equipment,Chongqing Technology and Business University,Chongqing 400067,China)

机构地区：[1]重庆工程职业技术学院机械工程学院,重庆402260 [2]重庆工商大学制造装备机构设计与控制重庆市重点实验室,重庆400067

出　　处：《机械传动》2019年第10期23-28,共6页Journal of Mechanical Transmission

基　　金：重庆市教育委员会科学技术研究项目(，KJQN201903409);重庆市基础科学与前沿技术研究专项(cstc2015jcyjA70006)

摘　　要：Exechon机床的并联模块为3自由度2UPR-SPR机构,是一种两转动一移动并联主轴头。将动平台输出轴设置为偏置形式,可提高姿态能力。采用0扭转角的倾摆—扭转角描述动平台姿态,建立机构位置反解数学模型。在此基础上,以局部传递指标(Local Transmission Index,LTI)为运动/力传递性能评价标准,分析机构优质传递姿态工作空间(Good Transmission Orientational Workspace,GTOW)和优质传递姿态能力(Good Transmission Orientational Capability,GTOC)。给出姿态能力分析实例,并绘制机构LTI,GTOW分布图和优质传递空间曲面。对比分析结果表明,偏置输出轴的GTOC优于正置情形,最佳偏置角对应的GTOC可达46°。The parallel module of Exechon machine tool is developed based on the 3 degree-of-freedom(DOF)2UPR-SPR mechanism,which is a parallel spindle head with two rotational(orientational)DOFs and one translational DOF.The output axis of moving platform designed as the deviation type can enhance the orienta tional capability of mechanism.The tilt-and-torsion angle with zero-torsion is used to descript the orientation of moving platform,and the mathematical model is constructed to solve the inverse displacement of the mechanism.On the basis,this study employs local transmission indices(LTI)as the criterion to evaluate the motion/force transmissibility,and analyses the good transmission orientational workspace(GTOW)and good transmission ori entational capability(GTOC)of manipulator.This work gives an example of orientational capability analysis and plots the distribution atlases of LTI and GTOW,and the surface of good transmission workspace.Furthermore,the comparison and analysis results indicate that the manipulator with deviation output axis has better perfor mance than one with orthogonal output axis in terms of GTOC,and the GTOC corresponded with the optimal de viation angle can achieve 46°.

关 键 词：并联机构 旋量理论 性能评价 姿态工作空间 姿态能力 

分 类 号：G63[文化科学—教育学]