RR&P5R型全球面工作空间解耦并联机构研究与优化  

Research and Optimization of RR&P5R Decoupled Parallel Mechanism with a Fully Spherical Workspace

作　　者：于珊珊 张建军[1] 李为民[1] 杨先海[2] Yu Shanshan;Zhang Jianjun;Li Weimin;Yang Xianhai(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300130,China;School of Mechanical Engineering,Shandong University of Technology,Zibo 255000,China)

机构地区：[1]河北工业大学机械工程学院,天津300130 [2]山东理工大学机械工程学院,山东淄博255000

出　　处：《机械传动》2020年第3期14-20,共7页Journal of Mechanical Transmission

基　　金：国家自然科学基金（51175144)

摘　　要：具有大球面及完整球面工作空间的球面并联机构是大角域工作空间应用领域研究的重要方向之一。针对当前球面并联机构存在工作空间不足的问题,基于双摇杆机构输入与输出差异化的特性,提出了一种新型2自由度全球面解耦并联机构构型思想,设计了一种RR&P5R型2自由度全球面工作空间解耦并联机构;通过运动学分析,建立了该机构的运动学方程,给出了机构的位置、速度和加速度的表达式;以支链最小输入量q2为优化目标,对机构进行了结构尺寸优化;对RR&P5R型和RR&PRR型球面解耦并联机构进行了性能对比。结果表明,RR&P5R型具有更好的工作性能。研究结果将为大角域球面工作空间需求领域提供重要的理论依据。Spherical parallel mechanisms with large or fully spherical workspace are one of the important research directions in the application of large-angle workspace.Aiming at the problem of insufficient workspace in the current spherical parallel mechanisms,a new idea for the type design of a 2-DOF decoupled parallel mechanism with a fully spherical workspace is presented based on the input and output characteristics of the double rocker mechanism.And a newly decoupled parallel mechanism(RR&P5R)with a fully spherical work⁃space is designed.The kinematic equations of parallel mechanism are established through kinematic analysis.Then the relationship of displacement,velocity and acceleration between input and output for the RR&P5R mechanism are obtained.With the objective of the minimum input quantity q2,the size of the RR&P5R mecha⁃nism is optimized.This research provides an important theoretical basis for large-angle spherical workspace ap⁃plications.

关 键 词：球面并联机构 全球面工作空间 运动解耦 结构分析 

分 类 号：TH112[机械工程—机械设计及理论]