基于螺旋理论的6-DOF耦合并联机构设计分析与优化  

Design Analysis and Optimization of 6-DOF Coupling Parallel Mechanism based on Spiral Theory

作　　者：叶增林 陈华 孙洒 Ye Zenglin;Chen Hua;Sun Sa(School of Artificial Intelligence Innovation,Ma'anshan University,Ma'anshan 243100,China;Anhui Hiseed Robot Co.,Ltd.,Ma'anshan 243100,China)

机构地区：[1]马鞍山学院人工智能创新学院,安徽马鞍山243100 [2]安徽海思达机器人有限公司,安徽马鞍山243100

出　　处：《机械传动》2021年第1期71-76,108,共7页Journal of Mechanical Transmission

基　　金：安徽省教育厅一般研究项目(gxyq2018155);马鞍山学院校级科研基金(QS2020010);安徽高校自然科学研究项目(KJ2020A0841)。

摘　　要：针对并联机构在柔性装配与打磨等场合的应用,分析设计了一种新型6-DOF耦合并联机构。基于螺旋理论设计了机构支链,并以提高机构刚度和降低运动惯量为目标对支链机构进行了优化设计。对该耦合并联机构按照固定原则对其进行解耦分析,得到了机构的运动性质和等效运动方式,并利用修正的G-K公式验算了该机构的自由度数目。最后,制造了该耦合并联机构的样机,对其进行了运动控制实验。实验结果表明了该机构构型的合理性与实用性。Aiming at the application of parallel mechanism in flexible assembly and polishing,a new 6-DOF coupling parallel mechanism is designed.The mechanism branch chain is designed based on the spiral theory,and the branch chain mechanism is optimized for the purpose of improving the rigidity of the mechanism and reducing the motion inertia.The coupled parallel mechanism is decoupled and analyzed according to the fixed principle,and the kinematics and equivalent motion of the mechanism are obtained.The number of degrees of freedom of the mechanism is verified by the modified G-K formula.Finally,a prototype of the coupled parallel mechanism is fabricated,and a motion control experiment is carried out.The experimental results show that the mechanism configuration is reasonable and practical.

关 键 词：耦合 6自由度 并联机构 螺旋理论 构型设计 

分 类 号：TH112[机械工程—机械设计及理论]