弯曲平移机构运动特征描述与分析方法研究  

Research on the Description and Analysis Method for the Motion Characteristics of Bending Translation Mechanisms

作　　者：石志新[1] 叶梅燕[2] 罗玉峰[1] SHI Zhixin;YE Meiyan;LUO Yufeng(Department of Mechanical&Electronic Engineering,Nanchang University,Nanchang 330031;Department of Science,Nanchang University,Nanchang 330031)

机构地区：[1]南昌大学机电工程学院,南昌330031 [2]南昌大学理学院,南昌330031

出　　处：《机械工程学报》2020年第21期79-88,共10页Journal of Mechanical Engineering

基　　金：国家自然科学基金资助项目(51365036)。

摘　　要：针对弯曲平移机构缺少运动特征描述模型和运算规则等问题,提出了适用于弯曲平移机构的运动特征描述与分析方法。首先归纳总结了刚体运动特征的组成要素,研究了弯曲平移运动的形成机理,并在此基础上提出了描述刚体平移运动整体特征的相关概念。其次借鉴内蕴几何的基本思想,建立了可表达弯曲平移特征的描述模型,随后分析制定了相应的运动特征求并和求交运算规则,并且给出了求交运算中并联机构动平台旋转轴存在性的两条判定准则。最后基于弯曲平移特征描述模型和运动特征运算规则,采用递归算法提出了便于程序化处理的运动特征分析方法,并结合具体实例论证了该方法的有效性。研究结果有利于促进机构拓扑结构分析与综合理论的完善和深化。For the lack of motion characteristic description model and operation rules of bending translation mechanisms, a method for describing and analyzing the motion characteristics of bending translation mechanisms is proposed. Firstly, the components of motion characteristics of rigid body are summarized, and the forming mechanism of bending translation mechanisms is studied. Then the related concepts to describe the global characteristics of bending translation are presented. Secondly, a description model based on intrinsic geometry is established to express the characteristics of bending translation. Then the corresponding rules of union and intersection operations are established. And two criteria for determining the existence of the rotating axis of the parallel mechanisms are given by a geometric method. Thirdly, a method for analyzing the kinematic characteristics of mechanisms is proposed by using recursive algorithm, which is easy to program. Finally, some specific examples are given to demonstrate the effectiveness of the proposed method. The research results are helpful to improve and deepen the topological structure analysis and synthesis theory of mechanism.

关 键 词：机器人机构 弯曲平移 运动特征建模 运动特征分析 

分 类 号：TH112[机械工程—机械设计及理论]