3-UU/UPU+2P混联机构运动学及工作空间分析  

Kinematics and Workspace Analysis of 3-UU/UPU+2P Hybrid Mechanism

作　　者：廖勋宝 林光春[1] 赵荣宽 徐炳辉 严海科 Liao Xunbao;Lin Guangchun;Zhao Rongkuan;Xu Binghui;Yan Haike(School of Mechanical Engineering,Sichuan University,Chengdu 610065,China)

机构地区：[1]四川大学机械工程学院,四川成都610065

出　　处：《机械传动》2020年第12期106-112,共7页Journal of Mechanical Transmission

基　　金：(川大-泸州)开袋即食野生罗汉笋关键技术及自动生产线研发(2017CDLZ-N10)。

摘　　要：针对混联机构兼具串并联机构优点的特点,提出一种新型3-UU/UPU+2P双层混联机构。首先,详细叙述了该机构的结构特性,并构建动、静坐标系;其次,基于螺旋理论对机构的自由度进行分析,并利用修正的G-K公式对自由度进行验证,得出该机构具有3个自由度且属于非瞬时机构的结论;然后,根据机构的运动特性,建立机构的运动学正解和逆解模型,并采用基于符号运算的微分变换法对机构的速度及加速度正解进行分析,通过具体的数值算例得出运动学模型的变化曲线,将理论计算结果与Adams仿真结果进行对比分析,验证了所构建运动学模型的正确性;最后,基于蒙特卡洛方法对该机构的工作空间进行分析,为机构的构型设计以及实际应用提供理论依据。研究结果表明,该机构具有较大的连续工作空间,且呈现一定的对称性。A new 3-UU/UPU+2P double-layer hybrid mechanism is proposed in view of the character’stics of the hybrid mechanism having both the advantages of the serial and parallel mechanisms.Firstly,the structural characteristics of the mechanism are described in detail,and a dynamic and static coordinate system is constructed.Secondly,the degree of freedom of the mechanism is analyzed based on the spiral theory,and the degree of freedom is verified by using the modified G-K formula.It is concluded that the mechanism has 3 degrees of freedom and belongs to a non-transient mechanism.Then,based on the kinematic characteristics of the mechanism,the forward and inverse solution models of the kinematics of the mechanism are established,and the differential solution method of symbolic operation is used to analyze the forward and velocity solutions of the mechanism.The change curves of kinematics model are obtained through specific numerical examples,and the theoretical calculation results are compared with Adams simulation results to verify the correctness of the kinematics model.Finally,the workspace of the mechanism is analyzed based on Monte Carlo method,which provides theoretical basis for the configuration design and practical application of the mechanism.The research results show that the mechanism has a large continuous and symmetrical workspace.

关 键 词：混联机构 运动学 蒙特卡洛法 工作空间 

分 类 号：TH112[机械工程—机械设计及理论]