一种球面三自由度并联机构的拓扑与位置分析  

Topology and Position Analysis of a Spherical 3-DOF Parallel Mechanisn

作　　者：李菊[1] 王达 沈惠平[1] LI Ju;WANG Da;SHEN Huiping(Research Center for Advanced Mechanism Theory,Changzhou University,Changzhou Jiangsu 213164,China)

机构地区：[1]常州大学现代机构学研究中心,江苏常州213164

出　　处：《机械设计与研究》2023年第2期64-69,共6页Machine Design And Research

基　　金：国家自然科学基金资助项目(51975062)。

摘　　要：研究了由3条结构同为■支链组成的球面三自由度并联机构的支链拓扑,表明动平台作三维转动的转动中心的位置固定不变,可由每条支链的前3个转动副的结构布置与后2个转动副的轴线布置共同确定,这为支链的拓扑设计提供了依据;同时,根据基于方位特征(POC)方程的并联机构拓扑结构设计理论,分析了该机构输出运动的方位特征、自由度(DOF)及耦合度(k)三个重要拓扑特征,表明该机构仅含1个耦合度k=2的子运动链(SKC);然后,运用基于拓扑特征的机构位置分析方法求解了该球面机构的位置正解,并通过位置逆解进行了验算,求解过程思路清晰、计算简明。The branch chain topology of a spherical 3-DOF parallel mechanism composed of three branches are studied in this paper.The position of the rotating center of the moving platform for three-dimensional rotation is shown to be fixed and determined by the structural arrangement of the first three rotating pairs and the axis arrangement of the last two rotating pairs of each branch chain,which provides a basis for the topological design of the branch chain.At the same time,according to the topological structure design theory of the parallel mechanism based on the position and orientation characteristic(POC)equations,three important topological characteristics of the output motion of the mechanism are analyzed,including the position and orientation characteristic,the degree of freedom and the degree of coupling,and it is shown that the mechanism contains only one sub-kinematic chain with a degree of coupling of 2.Then,the direct position solution of the spherical mechanism is solved by the position analysis method based on topological characteristics,and the inverse solution is used to check the calculation,which makes the solution process clear and the calculation concise.

关 键 词：球面并联机构 拓扑分析 耦合度 位置正解 

分 类 号：TH112[机械工程—机械设计及理论]