一种四自由度并联机构及运动学分析  

A Four-DOF Parallel Mechanism and Its Kinematics Analysis

作　　者：李特奇 周毅钧[1] 陈建鹏 LI Teqi;ZHOU Yijun;CHEN Jianpeng(School of Mechanical Engineering,Anhui University of Science and Technology,Huainan 232001,China)

机构地区：[1]安徽理工大学机械工程学院,安徽淮南232001

出　　处：《机械工程师》2021年第11期96-99,共4页Mechanical Engineer

摘　　要：基于车辆在路面的运动特征,提出一种2RRS/2UPS并联机构作为运动模拟器。利用螺旋理论分析机构受到的约束,结合修正的Grübler-Kutzbach公式对2RRS/2UPS并联机构自由度进行分析。通过封闭矢量法建立机构位置反解方程组,利用虚设机构法,建立了并联机构一阶、二阶影响系数矩阵,得到了机构输入空间对工作空间速度和加速度的线性映射。最后,利用Adams View软件建立2RRS/2UPS机构模型,通过仿真对模型进行了数值验证。验证结果证明了机构驱动选择的合理性和运动学研究方法的正确性。Based on the motion characteristics of vehicles on the pavement,a 2RRS/2UPS parallel mechanism is proposed as a motion simulator.The screw theory is used to analyze the constraints of the mechanism,and the modified Grubler-Kutzbach formula is used to analyze the freedom of the 2RRS/2UPS parallel mechanisms.By means of closed vector method,the equations of position inverse solution are established,and the influence coefficient matrix of the first and second order of the parallel mechanism is established by using the virtual mechanism method,and the linear mapping of the input space of the mechanism to the velocity and acceleration of the workspace is obtained.The Adams View software is used to establish 2RRS/2UPS mechanism model,and the model is verified by simulation.The verification results show the rationality of mechanism-driven selection and the correctness of kinematics research methods.

关 键 词：并联机构 螺旋理论 运动学 仿真分析 

分 类 号：TH122[机械工程—机械设计及理论]