一种1T2R型并联机构的运动学及工作空间分析  

Kinematics and Workspace Analysis of a 1T2R Parallel Mechanism

作　　者：黄金月 林光春[1] 全红鹏 廖勋宝 王韬略 Huang Jinyue;Lin Guangchun;Quan Hongpeng;Liao Xunbao;Wang Taolue(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》2021年第9期81-86,104,共7页Journal of Mechanical Transmission

基　　金：四川大学-泸州市人民政府战略合作科技创新研发项目(20826041D4175)。

摘　　要：提出了一种新型1T2R型3自由度并联机构,对其进行了运动学及工作空间分析。详细描述了该机构的机构特性,基于螺旋理论对其自由度进行分析,并结合修正Grübler-Kutzbach公式进行验证。根据机构的结构及运动特性,利用空间位置矢量法推导出机构运动学正逆解模型,通过将具体实例理论计算结果和Adams仿真结果对比分析,验证了模型的正确性。基于蒙特卡洛方法对该并联机构的工作空间进行了分析。研究为该类机构的详细机械构型以及实际应用奠定了理论基础。A new type of parallel mechanism with 1T2R 3-DOF is proposed,and its kinematics and workspace are analyzed.The characteristics of the mechanism are described in detail,and the degree of freedom is analyzed based on the screw theory,and verified by the modified Grübler-Kutzbach formula.Then,based on the structure and motion characteristics of the mechanism,the forward and inverse kinematics solution model of the mechanism is derived by using the spatial position vector method.The correctness of the model is verified by comparing the theoretical calculation results of a specific example with the simulation results of Adams.The workspace of the parallel mechanism is analyzed based on Monte Carlo method.This study provides a theoretical foundation for the detailed mechanical configuration and practical application of this kind of mechanism.

关 键 词：并联机构 运动学 蒙特卡洛方法 工作空间 

分 类 号：TH112[机械工程—机械设计及理论]