(2-RPU+UPU)+(RR)混联机构末端约束和运动耦合分析  

Terminal Constraint and Kinematic Coupling of (2-RPU+UPU)+(RR) Hybrid Mechanism

作　　者：胡波[1] 高添 曾达幸 卢文娟 王帅 王国永 HU Bo;GAO Tian;ZENG Daxing;LU Wenjuan;WANG Shuai;WANG Guoyong(School of Mechanical Engineering,Yanshan University,Qinhuangdao 066000,China;School of Mechanical Engineering,Dongguan University of Technology,Dongguan 523808,China;Department of Mechanical Engineering,Hebei Petroleum University of Technology,Chengde 067000,China)

机构地区：[1]燕山大学机械工程学院,秦皇岛066000 [2]东莞理工学院机械工程学院,东莞523808 [3]河北石油职业技术大学机械工程系,承德067000

出　　处：《农业机械学报》2023年第10期416-420,458,共6页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金面上项目(52275033);河北省中央引导地方科技发展资金项目(206Z7602G);广东省普通高校机器人与智能装备重点实验室项目(2017KSYS009);东莞理工学院机器人与智能装备创新中心项目(KCYCXPT2017006);东莞市科技特派员项目(20211800500242)。

摘　　要：少自由度混联机构有特殊的末端约束形式,同时其末端六维运动参数存在高度耦合,而以往对此类机构的研究多针对并联和串联模块分别开展,导致混联机构的整机末端约束和运动耦合研究被忽视,此类机构的约束和运动分析存在缺陷。本文采用Grassmann-Cayley代数分析了(2-RPU+UPU)+(RR)机构的末端约束,基于该机构的约束方程建立了其末端运动耦合模型,并以此得到了该机构修正的运动学反解模型。末端约束分析结果表明(2-RPU+UPU)+(RR)机构的末端约束为一个螺旋(1H)型约束,其自由度形式为两转两移一螺旋(2R2T1H)型运动。运动耦合结果表明该机构6维位姿耦合关系表现为一个多元耦合方程,在给定其中的5个独立参数后,另一个参数可通过该耦合方程确定。本文建立的(2-RPU+UPU)+(RR)机构的约束分析和运动耦合模型可为少自由度混联机构的末端约束和运动耦合分析提供参考。The lower mobility hybrid mechanism has a special form of terminal constraints,and its terminal motion parameters are highly coupled. The parallel and serial modules of the hybrid mechanisms were often studied separately in the previous researches,resulting in the neglect of the research on the terminal constraint and motion coupling of the whole hybrid mechanism. There are defects in the constraint and motion analysis of this kind of mechanisms. The terminal constraint of the (2-RPU+UPU)+(RR) mechanism was analyzed by using the Grassmann-Cayley algebra. Based on the constraint equations,the terminal motion coupling model of this mechanism was established. Then the modified inverse kinematics of this mechanism was obtained subsequently. The result of terminal constraint analysis showed that the terminal constraint of the (2-RPU+UPU)+(RR) mechanism was a helical (1H) type constraint,and its degree of freedom was two rotational (2R),two translation (2T) and one 1H type motion. The result of motion coupling analysis showed that the 6-dimensional pose coupling relationship of the (2-RPU+UPU)+(RR) mechanism was expressed in the form of a multivariate coupling equation. The constraint analysis and motion coupling model of the (2-RPU+UPU)+(RR) mechanism established provided a reference for the terminal constraint and motion coupling analysis of lower mobility hybrid mechanisms.

关 键 词：混联机构 末端约束 运动耦合 运动学 Grassmann-Cayley代数 

分 类 号：TG156[金属学及工艺—热处理]