3-(S/U)P(S/U)并联机构运动能力特性对比分析  

Comparative analysis on kinematic characteristics of the 3-(S/U)P(S/U)parallel mechanism

作　　者：罗建国 赵韵秋 邱杰清 LUO Jian-guo;ZHAO Yun-qiu;QIU Jie-qing(School of Mechanical and Electrical Engineering,North China Institute of Science and Technology,Langfang 065201;Hebei Key Laboratory of Safety Monitoring of Mining Equipment,Langfang 065201;School of Graduate,North China Institute of Science and Technology,Langfang 065201)

机构地区：[1]华北科技学院机电工程学院,河北廊坊065201 [2]河北省矿山设备安全监测重点实验室,河北廊坊065201 [3]华北科技学院研究生院,河北廊坊065201

出　　处：《机械设计》2020年第6期91-101,共11页Journal of Machine Design

基　　金：河北省高等学校科学技术研究资助项目(QN2017410);华北科技学院科技基金资助项目(3142019047)。

摘　　要：基于运动的元素数学表象及物理意义,引入主-副运动理论,区分定义机构输入、输出自由度,利用"六元素法"对关节运动域特征进行描述,通过输入-输出运动综合转化公式和解析分析,借助平面六维拓扑图,从具体3-SPU机构实例分析其输出运动能力特性出发,拓展到由SPS,SPU,UPS同构组成或混合组成的3支链并联机构输出运动特性,得到3个重要影响因素,一是并联机构3支链所在直线与静平台铰接点与形心连线构成平面与静平台所在的水平面是否垂直,二是上下平台是否平行,三是上下平台虽不平行,但某一支链两端的静平台铰接点与静平台形心连线与动平台铰接点与动平台形心连线是否平行是重要影响因素。基于反螺旋的自由度分析结果对应基于主-副运动理论的自由度分析的MDOF分析结果,不包含伴随输出对应的P-DOF分析结果。Based on the mathematical representation and the physical importance of kinematic elements,the principal-parasitic kinematic theory is introduced,in order to distinguish and define the input and output degrees of freedom of the mechanism.The six-element method is adopted to describe the domain characteristics of joint kinematics,with the help of the integrated and analytical conversion formula of input-output kinematics as well as the planar six-dimensional topological graph,which starts from the analysis on the output kinematic characteristics of the specific 3-SPU mechanism;the output kinematic characteristics of the three-branch parallel mechanism consist of SPS,SPU and UPS structures,which are isomorphic or mixed together.Thus,three important influencing factors are identified,including whether the plane formed by the straight line of the three branches of the parallel mechanism and the hinge point of the static platform and the centroid line is perpendicular to the horizontal plane of the static platform,whether the upper and lower platforms are parallel,and although the upper and lower platforms are not parallel,the connection line between the centroid and the hinge point of the static platform is parallel to the connection line between the centroid and the hinge point of the movable platform.The degree-of-freedom results based on the reciprocal-screw theory correspond to the M-DOF degree-of-freedom results based on the principal-parasitic kinematic theory,instead of the output-based P-DOF results.

关 键 词：并联机构 运动特性描述 自由度 运动域 反螺旋 

分 类 号：TG156[金属学及工艺—热处理]