一种新的可重构三自由度平面并联机构的结构设计及运动学分析  

Structural Design and Kinematic Analysis of a New Reconfigurable 3‑DOF Planar Parallel Mechanism

作　　者：王澍声 尤晶晶[1,2] 黄宁宁 叶鹏达 李成刚[2,4] WANG Shusheng;YOU Jingjing;HUANG Ningning;YE Pengda;LI Chenggang(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&Astronautics,Nanjing 210016,China;School of Mechanical Engineering and Rail Transit,Changzhou University,Changzhou 213016,China;College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics&Astronautics,Nanjing 210016,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]常州大学机械与轨道交通学院,常州213016 [4]南京航空航天大学机电学院,南京210016

出　　处：《南京航空航天大学学报》2023年第3期437-443,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：设计了一种新型的可变胞运动副,可用于实现3-转动副转动副转动副(Revolute-joint,revolute-joint,revolute-joint,RRR)平面并联机构的重构,进而推导并验证了R-R-R和转动副移动副转动副(Revolute-joint,prismatic-joint,revolute-joint,R-P-R)两种模式下的运动学模型包括正解方程和逆解方程,可用于计算并联机构的奇异位形和工作空间。研究结果表明:所设计的可变胞运动副能够实现机构的重构功能;两种模式下的运动学正解算法一致,均为一元八次方程;R-R-R型的运动学逆解为三个一元二次方程,R-P-R型的运动学逆解可直接用两点间的距离公式表达。最后,通过虚拟样机实验,验证了运动学模型的正确性。A new type of variable cell kinematic pair is designed,which can be used to realize the reconstruction of 3-revolute‑joint,revolute‑joint,revolute‑joint(RRR)planar parallel mechanism.The kinematic models of R-R-R and revolute‑joint,prismatic‑joint,revolute‑joint(R-P-R)modes are derived and verified,including forward and inverse solutions,which can be used to calculate the singular configuration and workspace of parallel mechanism.The research results show that the designed variable cell kinematic pair can realize the reconfiguration function of the mechanism.The forward kinematics algorithms in the two modes are consistent,both of which are unary eighth-order equations.The inverse kinematics solution of R-RR type is three quadratic equations,and the inverse kinematics solution of R-P-R type can be expressed directly by the distance formula between two points.Finally,the correctness of the kinematic model is verified by the virtual prototype experiment.

关 键 词：并联机构 变胞 重构 正向运动学 反向运动学 

分 类 号：TH112[机械工程—机械设计及理论]