基于2-PRU/PUU并联机构的伴随运动与工作空间分析  

Parasitic Motion and Workspace Analysis of Parallel Mechanism Based on 2-PRU/PUU

作　　者：马春生[1] 刘建国 文杰 贺阳涛 樊文龙 Ma Chunsheng;Liu Jianguo;Wen Jie;He Yangtao;Fan Wenlong(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9期146-151,共6页Journal of Mechanical Transmission

基　　金：山西省回国留学人员科研资助项目(2021-114)。

摘　　要：针对一种新型2-PRU/PUU并联机构的伴随运动及工作空间进行了分析。根据螺旋理论对机构的自由度进行分析;通过修正的Grübler-Kutzbach公式判断了其结果的正确性;通过创建2-PRU/PUU并联机构的运动学数学模型,推导了伴随运动与动平台位姿之间的数学关系,在此基础上,利用三维空间坐标矢量法计算了该机构的位置反解;采用极限边界搜索法在Matlab软件中运算求解出工作空间,并利用Adams软件对2-PRU/PUU并联机构进行了动平台质心运动参数的仿真计算。研究为该机构的尺度综合、误差分析以及为今后实际工程应用提供了理论与数据支撑。The Parasitic Motion and workspace of a new 2-PRU/PUU parallel mechanism are analyzed.Firstly,the degree of freedom of the mechanism is analyzed according to the spiral theory,and then the correct-ness of the results is judged by the modified Grübler-Kutzbach formula. Secondly,by establishing the kinemat-ics mathematical model of 2-PRU/PUU parallel mechanism,the mathematical relationship between the Parasit-ic Motion and the position and pose of the moving platform is deduced. On this basis,the inverse position solu-tion of the mechanism is calculated using the three-dimensional space coordinate vector method. Finally,thelimit boundary search method is used to calculate the workspace in Matlab software,and Adams software isused to simulate the moving platform centroid motion parameters of 2-PRU/PUU parallel mechanism. The re-search provides theoretical and data support for scale synthesis,error analysis and practical engineering appli-cation of the mechanism.

关 键 词：2-PRU/PUU并联机构 螺旋理论 伴随运动 位置反解 工作空间 

分 类 号：TH112[机械工程—机械设计及理论]