面对称(CRR)2S-(3R)2R并联机构运动学分析  

Kinematics Analysis of a Planar Symmetric(CRR)S-(3R)R Parallel Mechanism

作　　者：李杰[1] 车林仙[1,2] 杜力[1] 郑鑫 Li Jie;Che Linxian;Du Li;Zheng Xin(Chongqing Municipal Key Laboratory of Mechanism Design and Control for Manufacturing Equipment,Chongqing Technology and Business University,Chongqing 400067,China;School of Intelligent Manufacturing and Traffic,Chongqing Vocational Institute of Engineering,Chongqing 402260,China)

机构地区：[1]重庆工商大学制造装备机构设计与控制重庆市重点实验室,重庆400067 [2]重庆工程职业技术学院智能制造与交通学院,重庆402260

出　　处：《机械传动》2021年第6期58-64,共7页Journal of Mechanical Transmission

基　　金：重庆市自然科学基金资助项目(cstc2020jcyj-msxmX0074);重庆市教育委员会科学技术研究重点项目(KJZD-K201803401)。

摘　　要：以一种两移动两转动(2T2R)自由度面对称(CRR)2S-(3R)2R并联机构为研究对象,基于方位特征集理论分析该机构的自由度数目和性质,并对其进行了运动学分析。应用坐标变换法,建立求机构位置正解的非线性方程组,并采用差分进化算法求解该方程组。推导出机构逆解解析表达式,应用数值算例验证机构正解、逆解的正确性。采用矢量法推导机构速度及加速度表达式,并应用Matlab编程绘制机构的位置、速度和加速度曲线。同时,应用Adams进行运动学仿真,并求得Matlab理论曲线与Adams仿真曲线的最大误差。结果表明,二者运动学分析曲线基本一致,表明该机构理论分析正确可靠。Taking a planar symmetrical(CRR)2S-(3R)2R parallel mechanism with two translations andtwo rotations(2T2R)as the research object,based on the position and orientation characteristic set theory analyz-es the number and nature of the mechanism’s degree of freedom and then this study analyzes its kinematicsproblems.The coordinate transformation method is applied to establish a set of nonlinear equations for the posi-tive solution of the mechanism position,and the differential evolution algorithm is used to find the set of equa-tions.The analytical expressions for the inverse solution of the mechanism are derived,and numerical examplesare used to verify the correctness of the forward and inverse solutions of the mechanism.The vector method isused to derive the velocity and acceleration expressions of the mechanism,and Matlab is applied to program theposition,velocity and acceleration curves of the mechanism.At the same time,Adams is used for kinematics sim-ulation,and the maximum error between the Matlab theoretical curve and the Adams simulation curve is ob-tained.The result shows that the kinematic analysis curves of the two are basically the same,indicating that thetheoretical analysis of the mechanism is correct and reliable.

关 键 词：并联机构 方位特征 位置正解分析 运动学分析 ADAMS仿真 

分 类 号：TH112[机械工程—机械设计及理论]