2T1R并联机构的运动学及工作空间分析  

Analysis on kinematics and workspace of 2T1R parallel mechanism

作　　者：王韬略 林光春[1] 全红鹏 黄金月 WANG Tao-lve;LIN Guang-chun;QUAN Hong-peng;HUANG Jin-yue(School of Mechanical Engineering,Sichuan University,Chengdu 610065)

机构地区：[1]四川大学机械工程学院,四川成都610065

出　　处：《机械设计》2022年第3期10-18,共9页Journal of Machine Design

基　　金：智能折叠电动轮椅车及自动生产线研发(20826041D4175);四川大学-泸州市人民政府战略合作科技研发项目(20826041D4175)。

摘　　要：针对并联机构兼具误差小、精度高的特点,提出一种含1条冗余支链的新型2T1R双层并联机构。首先,构建坐标系,基于螺旋理论对机构的自由度进行分析,得出该机构具有3个自由度的结论,其中一条支链为冗余支链。其次,根据机构的运动特性,建立机构的运动学正解和逆解模型。通过具体的数值算例得出运动学正解模型的变化曲线和逆解的数值结果。将理论计算结果与ADAMS仿真结果进行对比分析,验证了所构建运动学模型的正确性。最后,进行机构的工作空间分析,得到动平台Ⅱ能显著扩大z向的工作空间和姿态角大小。该研究为机构的构型设计及实际应用提供理论依据。In this article,a new 2 T1 R double-layer parallel mechanism with one redundant branch chain is proposed for the advantages of small error and high precision.Firstly,the coordinate system is constructed and the degree of freedom of the mechanism is explored based on the screw theory.It’s concluded that the mechanism has 3 degrees of freedom,one of which is redundant.Secondly,according to the kinematic characteristics of the mechanism,the forward and inverse kinematic models of the mechanism are set up.The numerical results of the change curve and the inverse solution of the forward kinematics model are worked out by means of a specific numerical example.The theoretical results are compared with the ADAMS simulation results;it has verified that this kinematic model is correct.Finally,the analysis is conducted on the workspace of this mechanism and it is found that the moving platform II can significantly expand the workspace in the z direction as well as the range of attitude angle.This study provides theoretical basis for configuration design and practical application of such mechanisms.

关 键 词：并联机构 仿真分析 运动学 螺旋理论 工作空间分析 

分 类 号：TH112[机械工程—机械设计及理论]