一种圆柱面平移和一转动并联机构的设计与分析  

Design and Analysis of a Cylindrical Surface Translation and a Rotational Parallel Mechanism

作　　者：高波[1] 石志新[1] 罗玉峰[1,2] 林浩 Gao Bo;Shi Zhixin;Luo Yufeng;Lin Hao(School of Advanced Manufacturing,Nanchang University,Nanchang 330031,China;East China Jiaotong University,Nanchang 330013,China)

机构地区：[1]南昌大学先进制造学院,江西南昌330031 [2]华东交通大学,江西南昌330013

出　　处：《机械传动》2023年第6期34-41,48,共9页Journal of Mechanical Transmission

基　　金：国家自然科学基金(52165003)。

摘　　要：基于方位特征集(POC集)的并联机构拓扑设计理论与方法,设计了一种新型3自由度(DOF)的具有圆柱面平移和一转动(2T1R)的并联机构,并且对该机构进行了拓扑特性分析。主要包括:方位特征集、自由度和耦合度计算;对机构进行运动学分析,求解机构位置的正逆解,并对该机构进行了数值验证;基于机构位置的正逆解方程,分析了机构的工作空间及转动能力。为该机构后续的尺度优化、误差分析及动力学分析奠定了基础。Based on the topology design theory and method of parallel mechanism of position and orienta⁃tion characteristic(POC)theory,a new 3-DOF parallel mechanism with cylindrical translation and one rotation(2T1R)is designed,and the topological characteristics of the mechanism are analyzed,including the calculation of the position and orientation characteristic set,degrees of freedom and coupling degrees;then the kinematics of the mechanism is analyzed,the forward and inverse solutions of the position of the mechanism are solved and verified;finally,based on the forward and inverse position solutions of the mechanism,the work space and rota⁃tion capacity of the mechanism are analyzed.The work of this research lays a foundation for the subsequent scale optimization,error analysis and dynamic analysis of the mechanism.

关 键 词：并联机构 弯曲平移 运动学分析 工作空间 

分 类 号：TH112[机械工程—机械设计及理论]