新型无耦合两移动并联机构的设计与运动学分析  

Design and Kinematics Analysis of Novel Uncoupled Two-translational Parallel Mechanism

作　　者：芦风林 张彦斌[1,2] 王科明 魏雪敏 Lu Fenglin;Zhang Yanbin;Wang Keming;Wei Xuemin(School of Mechatronics Engineering,Henan University of Science and Technology,Luoyang 471003,China;Center of Machinery Equipment Advanced Manufacturing of Henan Province,Luoyang 471003,China)

机构地区：[1]河南科技大学机电工程学院,河南洛阳471003 [2]机械装备先进制造河南省协同创新中心,河南洛阳471003

出　　处：《机械传动》2021年第8期63-69,共7页Journal of Mechanical Transmission

基　　金：河南省科技攻关计划项目(192102210221)河南省高等学校重点科研项目基础研究计划项目(18A460001)。

摘　　要：针对并联机构的强耦合性问题,提出了一种新型无耦合两移动并联机构,包含3条分支运动链,其中,第一条和第二条分支运动链结构相同,均为RURR型结构,第三条分支运动链为由3个轴线平行的转动副组成,且其为纯约束分支。基于螺旋理论分析了机构的自由度和输出特性;利用驱动力螺旋和封闭环矢量法建立了机构运动学模型,推导出机构的位置、速度和加速度方程;详细讨论了机构的奇异性,得出机构的奇异位形;应用Matlab和Adams软件进行运动学仿真,仿真结果验证了理论分析的正确性。Aiming to solve the strong coupling problem of parallel mechanism,a novel uncoupled two translational parallel mechanism is proposed,which includes three branch chains.The first and the second branch chains have the same structure,they are all RURR-type structures.The third branch chain,called a pure constraint branch,is composed of three rotational joints whose axes are with parallel to each other.Based on the screw theory,the degree of freedom and output motion characteristics of the mechanism are analyzed.The kinematics models of the mechanism are established by using the actuation screw wrench theory and the closed loop vector method.Position,velocity and acceleration equations are derived.Singularity is also analyzed in detail and the singular configurations of the mechanism are obtained.The kinematics simulation is performed by using Matlab and Adams software.The correctness of the theoretical analysis is verified by the simulation re⁃sults.

关 键 词：并联机构 运动学分析 无耦合 奇异性 仿真 

分 类 号：TH112[机械工程—机械设计及理论]