一种三自由度弱耦合并联机构运动学分析  

Kinematics Analysis of a Three Degrees of Freedom Parallel Mechanism with Low Coupling Degree

作　　者：谢俊[1] 左飞飞 杨启志[2] 李玉萍 XIE Jun;ZUO Feifei;YANG Qizhi;LI Yuping(School of Mechanical Engineering,Jiangsu University,Zhenjiang Jiangsu 212013,China;School of Agricultural Equipment Engineering,Jiangsu University,Zhenjiang Jiangsu 212013,China)

机构地区：[1]江苏大学机械工程学院,江苏镇江212013 [2]江苏大学农业装备工程学院,江苏镇江212013

出　　处：《机床与液压》2022年第1期36-43,共8页Machine Tool & Hydraulics

摘　　要：提出一种PRR+2-PRRU型两平移一转动并联机构,并研究其运动学特性。根据方位特征集理论分析并联机构的POC集、自由度和耦合度等机构拓扑特性;该机构耦合度为1,其构型为弱耦合设计。运用解析法进行位置分析,并通过MATLAB验证位置求解的正确性。在位置分析的基础上,分析了机构工作空间,并求解机构运动Jacobian矩阵。基于Jacobian矩阵评价机构输入-输出控制方式的解耦特性;该机构平动输入Y与平动输出x间存在耦合,3种输入-输出控制方式解耦。通过运动Jacobian矩阵计算机构速度与加速度,并使用ADAMS分析机构动平台的输出运动规律。A PRR+2-PRRU parallel mechanism with two translation and one rotation was proposed, and its kinematic characteristics were studied.According to azimuth characteristic set theory, the topological characteristics of the parallel mechanism, such as POC set, degree of freedom and coupling degree, were analyzed.The coupling degree of the mechanism is 1, and the configuration is weak coupling design.Analytical method was used to analyze the position, and MATLAB was used to verify the correctness of the position solution. On the basis of position analysis, the mechanism workspace was analyzed and the Jacobian matrix of the mechanism motion was solved. The decoupling characteristics of the input-output control mode of the mechanism were evaluated based on the Jacobian matrix. The result shows that the translational input Y is coupled with the translational output x, and three types of input-output control are decoupling. The velocity and acceleration formula were deduced by Jacobian matrix, and the output motion law of the moving platform of the mechanism was analyzed by ADAMS.

关 键 词：并联机构 三自由度 弱耦合 解耦 运动学 

分 类 号：TH112[机械工程—机械设计及理论]