三自由度并联机构设计及优化  

Design and Optimization of Three-DOF(Degree of Freedom) Parallel Mechanism

作　　者：牟胜辉 胡真清 贺国建 蒋修华 何伟锋[2] Mou Shenghui;Hu Zhenqing;He Guojian;Jiang Xiuhua;He Weifeng(Jir Fine Intelligent Equipment Co.,Ltd.,Dongguan,Guangdong 523000,China;Dongguan University of Technology,School of Mechanical Engineering,Dongguan,Guangdong 523808,China)

机构地区：[1]乔锋智能装备股份有限公司,广东东莞523000 [2]东莞理工学院机械工程学院,广东东莞523808

出　　处：《机电工程技术》2021年第8期197-200,共4页Mechanical & Electrical Engineering Technology

基　　金：2020年广东省企业科技特派员项目(编号:GDKTP2020065800)。

摘　　要：根据PPR支链的特性,分析并联机构的运动原理,设计出PPR驱动链的机械结构,拟定3-PPR并联平台的整体设计方案,优化并联机构和确定运动平台的具体结构设计,对运动台进行自由度分析,对于重要零件的结构用有限元进行分析。设计出的平面3-PPR并联机构,可以通过3个驱动的输入完成平面内的三轴运动,并能进行各种定位台动作;相比串联平面机构,该机构存在累积误差为0、刚性高、定位精度高、动作灵活、结构简单、制造成本低等优点,并克服了一般用于精密定位的3-PRP并联平台运动高度耦合、运动学解法复杂等难点;该机构具有较高的分辨率和简便的控制性能,能满足FPD设备领域对精密对位系统的迫切需求。According to the characteristics of the PPR branch chain, the movement principle of the parallel mechanism was analyzed, the mechanical structure of the PPR drive chain was designed, the overall design plan of the 3-PPR parallel platform was drawn up, the parallel mechanism and determine the specific structure design of the motion platform was optimized, and the motion platform Degree of freedom analysis was carried out, using finite element analysis for the structure of important parts.The planar 3-PPR parallel mechanism was designed, which can complete the triaxial motion in the plane through three driven inputs and can carry out various positioning table actions. Compared with the series plane mechanism, the mechanism has the advantages of zero cumulative error, high rigidity, high precision positioning, flexible action, simple structure and low manufacturing cost, and it overcomes the difficulties such as high coupling of 3-PRP parallel platform motion and complex kinematics solution, which are generally used for precision positioning. The mechanism has high resolution and simple control performance, and can meet the urgent demand of precision alignment system in the field of FPD equipment.

关 键 词：平面并联机构 PPR支链 精密定位平台 LM十字滚动导轨 

分 类 号：TH132[机械工程—机械制造及自动化]