一种可重构3-RRR平面并联机构及其工作空间分析  

A Reconfiguration 3-RRR Planar Parallel Mechanism and Its Workspace Analysis

作　　者：徐帅 尤晶晶[1,2] 叶鹏达 李成刚[2,3] 沈惠平[4] XU Shuai;YOU Jingjing;YE Pengda;LI Chenggang;SHEN Huiping(College of Mechanical and Electronic Engineering,Nanjing Forestry University,Nanjing 210037,China;Jiangsu Key Laboratory of Precision and Micro-manufacturing Technology,Nanjing University of Aeronautics&Astro nautics,Nanjing 210016,China;College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics&Astronautics,Nanjing 210016,China;School of Mechanical Engineering and Rail Transit,Changzhou University,Changzhou 213016,China)

机构地区：[1]南京林业大学机械电子工程学院,南京210037 [2]南京航空航天大学江苏省精密与微细制造技术重点实验室,南京210016 [3]南京航空航天大学机电学院,南京210016 [4]常州大学机械与轨道交通学院,常州213016

出　　处：《南京航空航天大学学报》2022年第3期466-472,共7页Journal of Nanjing University of Aeronautics & Astronautics

基　　金：国家自然科学基金(51405237);国家留学基金(201908320035);江苏省精密与微细制造技术重点实验室开放基金。

摘　　要：在传统三自由度平面并联机构的基础上,提出了一种新型可重构三自由度平面并联机构。首先,基于方位特征方程的并联机构拓扑结构设计理论与方法,设计了一种可重构支链,实现3-转动副移动副转动副(3-revolute-joint,prismatic-joint,revolute-joint,3-RPR)型与3-转动副转动副转动副(3-revolute-joint,revolute-joint,revolute-joint,3-RRR)型平面并联机构之间的切换。然后,以3-RRR构型为例,分析了机构重要的拓扑指标:方位特征、自由度及耦合度,并基于机构的结构特性及几何约束条件,采用封闭矢量法,推导出运动学逆解模型。最后,分别基于支链的几何约束法及逆解模型,分析了机构的位置工作空间,并研究了杆长行程变化对工作空间的影响。本文不仅为机构工作空间的分析提供了一种新的思路,而且为机构的设计提供了一种新的选择。Based on the traditional three degree of freedom(DOF)planar parallel mechanism,a novel reconfigurable 3-DOF planar parallel mechanism is proposed.Firstly,based on the theory and method of topology design of the parallel mechanism position and orientation characteristic(POC).The switch between the 3-revolute-joint,prismatic-joint,revolute-joint(3-RPR)and 3-revolute-joint,revolute-joint,revolute-joint(3-RRR)planar parallel mechanisms is realized through a reconfigurable branch chain.Then,taking 3-RRR configuration as an example,the important topological indexes of the mechanism,such as POC,DOF and coupling degree,are analyzed.Based on the structural characteristics and geometric constraints of the mechanism,the inverse kinematics model is derived by using the closed vector method.Finally,the position workspace of the mechanism is analyzed based on the geometric constraint method of the branched chain and the inverse solution model respectively.This work provides not only a new idea for the analysis of mechanism workspace,but also a new choice for the design of mechanism.

关 键 词：平面机构 可重构支链 封闭矢量法 自由度 工作空间 

分 类 号：TH112[机械工程—机械设计及理论]