环形3-PPR平面并联机构设计与分析  

Design and Analysis of an Annular 3-PPR Planar Parallel Mechanism

作　　者：吴小勇 李毅毅 张凯飞 Wu Xiaoyong;Li Yiyi;Zhang Kaifei(School of Mechanical Engineering,Chongqing University of Technology,Chongqing 400054,China)

机构地区：[1]重庆理工大学机械工程学院,重庆400054

出　　处：《机械传动》2023年第1期82-87,146,共7页Journal of Mechanical Transmission

基　　金：重庆市科委(cstc2020jcyj-msxmX0281);重庆市教委(KJCX2020044、KJQN202101114、KJQN202201115、HZ2021011);重庆市高校创新研究群体(CXQT19026);重庆理工大学科研启动金。

摘　　要：为了提升机构旋转工作空间,提出了一种具备整周旋转能力的环形3-PPR平面并联机构。借助齐次变换与封闭矢量法,求得了机构运动学逆解;基于归一化雅可比矩阵,分析了机构的奇异性和灵巧度性能,获得机构最佳性能尺度配置参数;结合运动学逆解与几何约束条件,求解了机构可达工作空间;通过Adams与Matlab软件对机构进行了运动学仿真,验证了理论模型的正确性。研究为环形3-PPR平面并联机构的设计应用提供了理论依据,并为该机构的动力学分析、优化设计等进一步研究奠定了一定的理论基础。In order to enlarge the rotation workspace of the manipulator, an annular 3-PPR planar parallel mechanism with full rotation capability is proposed. Resorting to homogeneous transformation and closed vector method, the inverse kinematics solution of the manipulator is obtained. Based on the normalized Jacobian matrix, the singularity and dexterity performance of the manipulator are analyzed, and the optimal configuration parameters with great performance are obtained. Combined with the inverse kinematics solution and the geometry constraints of the manipulator, the reachable workspace is determined. Kinematics simulation of the manipulator is carried out by Matlab and Adams software, and the correctness of the theoretical model is verified. This research provides a theoretical basis for the design and application of the annular 3-PPR planar parallel manipulator, and it is also useful for further study, such as dynamics analysis, optimal design and so on.

关 键 词：并联机构 运动学 奇异性 性能分析 工作空间 

分 类 号：TH112[机械工程—机械设计及理论]