一种新型运动冗余并联机构的运动学研究  

Research on Kinematics of a New Kinematic Redundant Parallel Mechanism

作　　者：李云峰[1] 杨倩[2] 郭兴 LI Yunfeng;YANG Qian;GUO Xing(School of Mechanical and Electrical Engineering,Sanjiang University,Nanjing Jiangsu 210012,China;School of Electrical Engineering,Suihua University,Suihua Heilongjiang 152000,China;School of Mechanical and Electrical Engineering,Changchun University of Science and Technology,Changchun Jilin 130022,China)

机构地区：[1]三江学院机械与电气工程学院,江苏南京210012 [2]绥化学院电气工程学院,黑龙江绥化152000 [3]长春理工大学机电工程学院,吉林长春130022

出　　处：《机床与液压》2020年第9期10-15,共6页Machine Tool & Hydraulics

基　　金：吉林省科技发展计划项目(20150204015GX)。

摘　　要：针对传统3-RPR型非冗余平面并联机构运动过程中存在奇点,且需要较大驱动力矩无法实现平滑轨迹跟踪问题,提出了一种新型3-PRPR运动冗余并联机构。建立了新型并联机构的位置、速度和加速度模型,基于运动学模型进行了工作空间仿真分析,分别对不同末端执行器位置和大小、不同基圆半径对工作空间的影响进行了对比分析,并对工作空间运动轨迹进行了分析。仿真结果表明:末端执行器位置只影响定向工作空间,对可达工作空间无影响;定向工作空间和可达工作空间均与基圆半径成正比;末端执行器大小与定向工作空间成反比,与可达工作空间成正比。相同条件下,与传统3-RPR并联机构相比,所提出的新型并联机构工作空间明显增大,证明了该新型并联机构的有效性。In order to solve the problem of the singularity in the motion process of traditional 3-RPR planar non-redundant parallel mechanism and the difficulty of the smooth trajectory tracking on large driving torque,a new 3-PRPR kinematic redundant parallel mechanism was proposed.The position,velocity and acceleration models of the parallel mechanism were established and the workspace simulation analysis was carried out based on a kinematics model.The effects of different end-effector positions and sizes,different base circle radius on the workspace were analyzed and compared,and the motion trajectory of the workspace was analyzed.The simulation results show that the position of end-effector only affects directional workspace,but has no effect on reachable workspace.Both directional workspace and reachable workspace are proportional to the base circle radius.The end-effector size is inversely proportional to the directional workspace and directly proportional to the accessible workspace.At the same condition,the working space of the proposed new parallel mechanism is obviously increased compared with the traditional 3-RPR parallel mechanism.The new parallel mechanism was proved to be effective.

关 键 词：3-PRPR并行机构 运动冗余 定向工作空间 可达工作空间 

分 类 号：TH113[机械工程—机械设计及理论]