含双驱动五杆回路的弱耦合并联机构型综合  

Structural Synthesis of Parallel Mechanisms Containing Dual Drive Five-bar Loop

作　　者：朱小蓉[1] 李世杰 周宇东 沈惠平[1] ZHU Xiaorong;LI Shijie;ZHOU Yudong;SHEN Huiping(School of Mechanical Engineering, Changzhou University, Changzhou 213164, China)

机构地区：[1]常州大学机械工程学院,常州213164

出　　处：《农业机械学报》2021年第10期434-442,共9页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金项目(51975062、51475050)。

摘　　要：根据基于方位特征方程的并联机构拓扑结构设计方法,对含双驱动五杆回路的并联机构进行了型综合。提出并分析了7种耦合度为0的双驱动五杆回路拓扑组成及拓扑特征;设计了含双驱动五杆回路的3T1R、3T2R、3T3R复杂支链;基于综合的复杂支链,构造了3种3支链和2种2支链的3T1R并联机构、2种4支链和4种3支链的3T2R并联机构,以及2种4支链和2种3支链的3T3R并联机构;对这15种新构型进行了拓扑结构特征分析,得到其所包含的独立回路数、过约束数、耦合度等。结果表明,综合的机构大多结构简单、紧凑,且耦合度低,有利于后续的运动学、动力学建模与分析,具有较好的应用前景。The double drive closed-loop mechanism has the advantages of simple and compact structure,better flexibility and bigger workspace,so it can be used to design parallel mechanisms.Based on the theory of position and orientation characteristics(POC)equations,a systemic approach of type synthesis for spatial parallel mechanisms containing planar closed-loop structures within limbs was proposed,consequently numerous novel parallel mechanisms consisting of fewer limbs were synthesized by using this technique.Firstly,the topological compositions and equivalent outputs of seven kinds of dual drive loops were presented and analyzed.Then,the 3T1R,3T2R and 3T3R chains with dual drive five-bar loop were generated.Based on the complex chains synthesized,three kinds of three-chain and two kinds of two-chain 3T1R parallel mechanisms,two kinds of four-chain and four kinds of three-chain 3T2R parallel mechanisms,as well as two kinds of four-chain and two kinds of three-chain 3T3R parallel mechanisms were constructed.Furthermore,the topological characteristics of these fifteen kinds of mechanisms were analyzed,including the number of the independent loops,number of over-constraints and coupling degree.The results showed that the mechanisms with fewer limbs had not only the characteristics of simple,compact and symmetrical structure,but also had the low coupling degree to facilitate the kinematic and dynamic analysis,which made these mechanisms promising prospect in the application of industry.This work contributed to enriching and improving the structural synthesis theory of the parallel mechanisms with fewer limbs.

关 键 词：并联机构 方位特征方程 双驱动五杆回路 型综合 弱耦合 

分 类 号：TH112[机械工程—机械设计及理论]