三自由度并联机构的设计与运动学分析  

Design and Kinematics Analysis of a Three-DOF Parallel Mechanism

作　　者：冯志坚 王桂莲[1,2] 吕秉锐 王勇[1,2] FENG Zhi-jian;WANG Gui-lian;LV Bing-rui;WANG Yong(Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control,Tianjin University of Technology,Tianjin 300384,China;National Demonstration Center for Experimental Mechanical and Electrical Engineering Education,Tianjin University of Technology,Tianjin 300384,China)

机构地区：[1]天津理工大学天津市先进机电系统设计与智能控制重点实验室,天津300384 [2]天津理工大学机电工程国家级实验教学示范中心,天津300384

出　　处：《组合机床与自动化加工技术》2020年第6期1-4,共4页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金项目(51405196);天津市自然科学基金项目(18JCYBJC20100)。

摘　　要：设计了一种应用于各类表面加工的三自由度并联机构,充分研究了三自由度并联机构在空间的运行机理,使机构加工时,能够合理设置加工参数。首先,对三自由度并联机构进行了位置正逆解分析,并通过举例计算验证了其正确性,为机构的控制提供了理论参考。然后,对其进行了运动空间求解,研究了三自由度并联机构的工作空间,得出工作空间分布特点。最后,通过ADAMS仿真了并联机构的运动过程,验证了其运动学性能,对其移动平台的位移、速度、加速度进行了详细分析,说明了设计的机构能适应速度变化要求高的场合。A three-degree-of-freedom parallel mechanism for various surface machining is designed.The operation mechanism of the three-degree-of-freedom parallel mechanism in space is fully studied,so that the machining parameters can be set reasonably during the machining.Firstly,the positional forward and inverse solution analysis of the three-degree-of-freedom parallel mechanism is carried out,and its correctness is verified by an example calculation,which provides a theoretical reference for the control of the mechanism.Then,the motion space is calculated,and the working space of the three-degree-of-freedom parallel mechanism is studied,and the distribution characteristics of the workspace are obtained.Finally,the motion process of the parallel mechanism is simulated by ADAMS,and its kinematics performance is verified.The displacement,velocity and acceleration of the mobile platform are analyzed in details,which shows that the mechanism designed can adapt to the occasions with high speed change requirements.

关 键 词：并联机构 位置分析 工作空间 运动学特性 

分 类 号：TH166[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]