空间3-PRR并联机构的奇异性及其在不规则曲面雕刻机中的应用  

Singularity of Spatial 3-PRR Parallel Mechanism and Its Application in Irregular Surface Engraving Machine

作　　者：孙斌 李瑞琴[1] 梁晶晶[1] Sun Bin;Li Ruiqin;Liang Jingjing(School of Mechanical Engineering,North University of China,Taiyuan 030051,China)

机构地区：[1]中北大学机械工程学院,山西太原030051

出　　处：《机械传动》2022年第3期149-153,176,共6页Journal of Mechanical Transmission

基　　金：山西省重点研发计划“下肢运动康复机构构型综合与应用研究”(201803D421027)山西省重点研发计划“基于并联机构的外骨骼助力机器人”(201903D421051);山西省软科学柔性机构创新推动机器人产业发展研究(2019041020-2)。

摘　　要：提出了一种空间3-PRR并联机构,该并联机构所有转动副的轴线均相互平行。基于螺旋理论计算得到1R2T机构具有3个自由度。用闭环矢量法求得并联机构的运动反解,基于运动反解求出了机构的Jacobian矩阵,并利用矩阵获得了该机构的两种奇异位形。由给定参数和约束条件,采用工作空间搜索法求得动平台的可达工作空间,给出了并联机构用于不规则曲面雕刻机的应用实例。实验研究表明,该机构可以满足雕刻的需求。A spatial 3-PRR parallel mechanism is proposed and the axes of all the revolute pairs of the parallel mechanism are parallel to each other.Based on the screw theory calculation,the mechanism has three degrees of freedom(DOFs)which include two translations and one rotation.The inverse kinematic solutions are obtained by using close-loop vector method.Based on the inverse kinematic solutions,the Jacobian matrix of the mechanism is solved,and two kinds of singularities of the mechanism are obtained according to the Jacobian matrix.Based on the given parameters and constraints,the reachable workspace of the moving platform is determined by using workspace search method.An application example of engraving machine for irregular surface is given.The experiment result shows that its performance can satisfy the requirements of engraving.

关 键 词：3-PRR并联机构 逆运动学 奇异位形 工作空间 雕刻机 

分 类 号：TH112[机械工程—机械设计及理论]