双模融合6-[(RPRRRP)R-R]US并联机构运动学分析  

Kinematic Analysis of Dual-mode Fusion 6-[(RPRRRP)R-R]US Parallel Mechanism

作　　者：陈宇航 赵铁石[2,3] 郭建纲 陈丽缓 郝增亮 CHEN Yuhang;ZHAO Tieshi;GUO Jian'gang;CHEN Lihuan;HAO Zengliang(School of Mechanical and Electrical,North China Institute of Aerospace Engineering,Langfang 065000,China;Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System,Yanshan University,Qinhuangdao 066004,China;Key Laboratory of Advanced Forging and Stamping Technology and Science,Ministry of Education,Yanshan University,Qinhuangdao 066004,China)

机构地区：[1]北华航天工业学院机电工程学院,廊坊065000 [2]燕山大学河北省并联机器人与机电系统实验室,秦皇岛066004 [3]燕山大学先进锻压成形技术与科学教育部重点实验室,秦皇岛066004

出　　处：《农业机械学报》2022年第5期438-448,共11页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金项目(51875496);NCIAE博士科研启动基金项目(BKY202030)。

摘　　要：针对工程上对不同性质的运动需要叠加融合的一类应用需求,设计一种能够实现双模式运动融合的6-[(RPRRRP)R-R]US型并联机构。阐述了将机构原驱动副R转换为(RPRRRP)R-R双输入子闭环机构的方法。对机构单模式工作和双模式融合工作分别进行运动学正、反解分析,提出两种双输入反解驱动分配策略,根据双输入子闭环和外层6-RUS机构特点分别采取二分法和牛顿法进行运动学正解运算,并给出求解流程图。通过数值算例,分别对单轴运动下的双模融合、多轴复合运动下的双模融合的反解运算以及双输入融合驱动下的正向运动学进行理论计算,并对不同情况下的算例进行运动学仿真,结果表明理论值与仿真值之差均在10^(-6)量级,证明了理论方法的正确性和有效性。该机构可应用于车载、船载以及星载设备的指向与稳定协同调节装置,提升载体设备的作业性能。In many engineering applications, the fusion motion involving many components is required, each motion component has different properties. The different motion properties can be roughly divided into two types according to frequency and amplitude, namely, low frequency high amplitude and high frequency low amplitude, however, the commonly used driving device often works in only one mode. For this kind of application demand, a 6-[(RPRRRP)R-R]US parallel mechanism was designed to realize dual-mode motion fusion. The novel mechanism evolved from the typical 6-RUS configuration. The method of transforming the original driving pair R into(RPRRP)R-R dual-input sub closed loop mechanism was discussed. The forward and inverse kinematics solutions of the novel mechanism under single montion component mode and two components fusion mode were analyzed respectively. Two kinds of strategies, which was for allocation of dual-input inverse solution, were proposed. The forward kinematics of the novel mechanism was divided into two steps: firstly, according to the characteristics of dual-input sub closed loop, dichotomy method was used;secondly, for the outer 6-RUS configuration, forward kinematics was conducted by means of Newton method. Flow charts of the two steps were given. Through numerical examples, theoretical calculations were carried out for the inverse solution of dual-mode fusion under uniaxial motion, inverse solution of dual-mode fusion under multi-axial composite motion and for the forward solution driven by dual-input fusion, meanwhile, the kinematics simulation of numerical examples in different cases was carried out. The results showed that the difference between the theoretical value and the simulation value was on the order of 10^(-6), the correctness and validity of the theoretical method were proved. The mechanism proposed can be used as the pointing and stability coordinate adjustment device of vehicle-borne, shipborne and space-borne equipment to improve the operation performance.

关 键 词：并联机构 双模融合 子闭环 运动学 

分 类 号：TH112[机械工程—机械设计及理论]