2-PrRS-PR(P)S并联变胞机构工作空间分析与优化  

Analysis and Optimization on Workspace of 2-PrRS-PR(P)S Parallel Metamorphic Mechanism

作　　者：马琨[1,2] 马宏伟 田海波[1,2] Ma Kun;Ma Hongwei;Tian Haibo(School of Mechanical Engineering,Xi'an University of Science and Technology,Xi'an 710054,China;Shaanxi Key Laboratory of Mine Electromechanical Equipment Intelligent Monitoring,Xi'an 710054,China)

机构地区：[1]西安科技大学机械工程学院,陕西西安710054 [2]陕西省矿山机电装备智能监测重点实验室,陕西西安710054

出　　处：《机械传动》2020年第3期57-65,共9页Journal of Mechanical Transmission

基　　金：国家自然科学基金（50674075）;陕西省科技统筹创新工程计划项目（2013KTCL01-02）;陕西省自然科学基础研究计划项目（2015JM5235)

摘　　要：根据变胞理论,提出一种新型可变转动副轴线的2-PrRS-PR(P)S并联变胞机构,通过机构两个分支转动副轴线角度的改变实现机构变胞。首先,分析得出机构两个工作构态的运动学反解;其次,分析机构各参数对不同构态工作空间的限制,采用三维扫描法求解机构两个工作构态的工作空间;最后,研究机构各参数变化对机构不同构态工作空间体积大小的影响,以工作空间体积最大化为目标,利用遗传算法和单一变量法优化机构的结构参数。Based on the theory of metamorphic mechanism,a novel parallel metamorphic mechanism of 2-PrRS-PR(P)S is proposed.The revolute pair of two limbs in the proposed mechanism can change its rotation axis to achieve the metamorphic configuration.Firstly,the kinematics inverse solutions of the two working configura⁃tions of the 2PrRS-PR(P)S are obtained.Then,the constraints conditions of the mechanism are analyzed.By us⁃ing the three dimensional search method,the reachable workspace is solved.Finally,the relationship between each of parameters and the workspace in different configurations are analyzed.Aiming at the maximized work⁃space volume,the optimized structural parameters is obtained by Genetic Algorithm and single variable analysis.

关 键 词：并联变胞机构 运动学分析 工作空间 参数优化 

分 类 号：TH112[机械工程—机械设计及理论]