一种等效3-P_zP_xS并联机构设计与运动学性能分析  

Design and Kinematics Performance Analysis of an Equivalent 3-P_zP_xS Parallel Mechanism

作　　者：吕叶萍 许勇[1] 宋伟[1] 梁诤 刘勇 LV Yeping;Xu Yong;Song Wei;Liang Zheng;Liu Yong(School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201600,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》2020年第1期72-78,共7页Journal of Mechanical Transmission

基　　金：上海市普通高校学术学位研究生科研创新计划资助项目(E3-0903-18-01020);上海高校中青年教师国外访学进修计划项目(2018)

摘　　要：针对多轴联动混联加工平台的构型创新需求,综合出一种支链中含平面缩放结构单元的新型2R1T并联机构--3-P_zP_xS。提出并优选了支链构型,验证了机构自由度;推导获得了机构位置正逆解析解,便于后续的运动规划及控制;基于机构雅可比矩阵,确定了机构发生正运动学奇异的位形参数条件;采用边界搜索法获得机构可达工作空间后,确定机构具有大的转动能力。相关成果为混联高效数控加工中心的研究奠定了理论基础。In order to meet the requirements of the configuration innovation of the multi-axis linkage processing platform,a new type of 2R1T 3-P_zP_xS parallel mechanism is synthesized,which contains a planar pantograph structure unit in the branching chain.The branch chain configuration is proposed and optimized to verify the degree of freedom of the mechanism.The forward and inverse analytical solutions of the mechanism position are derived and obtained,which is convenient for subsequent motion planning and control.Based on the Jacobian matrix of mechanism,the parameter conditions resulting in positive kinematic singularities are confirmed.After obtaining the workspace of the mechanism by using the boundary search method,it is determined that the mechanism has a large rotational capacity.The related results lay a theoretical foundation for the research of high efficiency NC machining center.

关 键 词：缩放结构单元 2T1R运动 运动学分析 奇异性 

分 类 号：TH112[机械工程—机械设计及理论]