一种零耦合度新型球面并联机构的设计、拓扑分析与运动学  

Design and Topological Analysis as Well as Kinematics of a New Spherical Parallel Mechanism with Zero Coupling Degree

作　　者：沈惠平[1] 徐清 王一熙 李家宇[1] 杨廷力[1] SHEN Huiping;XU Qing;WANG Yixi;LI Jiayu;YANG Tingli(Research Center for Advanced Mechanism Theory,Changzhou University,Changzhou 213164,China)

机构地区：[1]常州大学现代机构学研究中心,江苏常州213164

出　　处：《常州大学学报（自然科学版）》2020年第4期46-54,共9页Journal of Changzhou University：Natural Science Edition

基　　金：国家自然科学基金资助项目(51475050)。

摘　　要：基于方位特征方程(POC)的并联机构拓扑结构设计理论,设计了一种结构简单、零耦合度、能实现三转动(3 R)的新型球面并联机构。首先,分析计算了该机构的方位特征集(POC)、自由度(DOF)以及耦合度(k)等拓扑特性,发现该机构包含3个零耦合度的基本运动链(BKC),因此,易求得机构位置正、反解的解析解;然后,根据位置反解公式,计算分析了机构的工作空间;并基于雅可比矩阵,对机构的奇异位形进行了分析。该机构可用作机器人的肩、腕和腰等关节,或用作姿态调整装置。According to the topological design theory of parallel mechanism(PM)based on position and orientation characteristic(POC)equations,a new three-rotational spherical PM with zero coupling degree is designed.Firstly,the POC,degree of freedom and coupling degree of the PM are calculated.It is found that the PM contains three BKC with zero coupling degree.Therefore,the analytical formula of the positive and inverse solution of the PM is directly derived;Then,the workspace of the PM is calculated and analyzed based on the position inverse solution formula and the singular configuration of the PM is analyzed based on the Jacobian matrix.This mechanism can be used as a joint for the shoulder,wrist and waist of a robot,or as an adjustment device of position and orientation.

关 键 词：球面机构 耦合度 运动学 工作空间 奇异性 

分 类 号：TK8[动力工程及工程热物理—流体机械及工程]