基于含复合转动直线驱动单元的并联机构运动原理分析  

Kinematics principle analysis of parallel robot based on composite rotary linear driving unit

作　　者：许允斗[1,2] 仝少帅 王增照 刘宇 姚建涛[1,2] 赵永生[1,2] XU Yundou;TONG Shaoshuai;WANG Zengzhao;LIU Yu;YAO Jiantao;ZHAO Yongsheng(Laboratory of Parallel Robot and Mechatronic System of Hebei Province,Yanshan University,Qinhuangdao,Hebei 066004,China;Key Laboratory of Advanced Forging&Stamping Technology and Science of Ministry of National Education,Yanshan University,Qinhuangdao,Hebei 066004,China;College of Science&Technology of Hebei Agricultural University,Cangzhou,Hebei 061100,China)

机构地区：[1]燕山大学河北省并联机器人与机电系统实验室,河北秦皇岛066004 [2]燕山大学先进锻压成型技术与科学教育部重点实验室,河北秦皇岛066004 [3]河北农业大学理工学院,河北沧州061100

出　　处：《燕山大学学报》2020年第3期198-202,共5页Journal of Yanshan University

基　　金：国家重点研发计划资助项目(2017YFB1301901);国家自然科学基金资助项目(51875495,51405425);河北省高等学校青年拔尖人才计划资助项目(BJ2017060)。

摘　　要：为了有效提高整体刚度和承载能力,并联机构常采用简化设计的方法,将直线驱动与一个转动单元设计成一体,形成等效于螺旋副的直线驱动单元,简化运动副的设计。本文以基于3UPS-S三自由度并联机构简化设计的三自由度并联机构3UPHU-S为研究对象,对其运动学原理进行了分析,得到了各驱动支链螺旋副需要产生的转角大小和螺旋副产生的附加位移,进一步得到了直线驱动单元的实际输入位移值,研制出样机进行实验,验证了基于含复合转动直线驱动单元的并联机构运动学原理分析的正确性。研究成果对基于简化设计的并联机构分析、设计及其控制具有重要的参考价值。A simplified design method is often used to design a parallel robot mechanism with a linear drive and a rotating unit to form a linear drive unit equivalent to the spiral pair,simple motion pair in order to effectively improve the overall stiffness and load carrying capacity.A three-degree-of-freedom parallel robot 3UPHU-S based on the simplified design of the 3UPS-S three-degree-of-freedom parallel mechanism is taken as the research object,and the kinematics principle is analyzed in this paper.The corner size and spiral of each driving branch helical pair are obtained.The actual input displacement of the linear drive unit is obtained,and the prototype is developed to verify the correctness of the kinematics analysis based on the parallel robot with composite rotary linear drive unit.The research results have important reference for the analysis,design and control of parallel robot based on simplified design.

关 键 词：并联机构 简化设计 直线驱动单元 螺旋副 

分 类 号：TH122[机械工程—机械设计及理论]