新型两平移一转动并联机构的拓扑设计及性能分析  

Topological design and performance analysis of a new type 2T1R parallel mechanism

作　　者：耿宗海 李菊[1] 沈惠平[1] 杨廷力[1] GENG Zonghai;LI Ju;SHEN Huiping;YANG Tingli(Research Center for Advanced Mechanism Theory,Changzhou University,Changzhou 213016,China)

机构地区：[1]常州大学现代机构学研究中心,江苏常州213016

出　　处：《机电工程》2023年第12期1931-1938,共8页Journal of Mechanical & Electrical Engineering

基　　金：国家自然科学基金资助项目(51975062)。

摘　　要：针对工业生产中需要小范围精确作业,又需要大范围单向操作的双重需求问题,对两平移一转动(2T1R)输出的并联机构进行了研究。首先,采用了基于方位特征集的拓扑结构设计方法,设计并分析了一种新型两平移一转动并联机构,给出了拓扑设计过程,对其自由度等主要拓扑特性进行了验证;然后,采用了基于拓扑特征的运动学建模方法,对该机构进行了运动学分析,研究了该机构的符号式位置正、反解,并根据位置正、反解分别研究了该机构的可达工作空间、动平台中点的速度和加速度曲线以及三类奇异位置;最后,采用基于虚功原理的序单开链法,建立了动力学模型并进行了动力学分析,研究了该机构所需要的驱动力。研究结果表明:该并联机构的速度加速度、驱动力的仿真曲线和理论曲线的相对误差在2%以内,机构的运动学与动力学模型建立无误,可为该并联机构后续的误差分析、运动轨迹规划与控制奠定基础。Aiming at the dual demand problem of precise operation in a small range and unidirectional operation in a large range in industrial production,the parallel mechanism with two translation and one rotation(2T1R)outputs was studied.Firstly,a new type of parallel mechanism with two translations and one rotation was designed and analyzed by using the topology design method based on azimuth feature set.The topological design process of the mechanism was given,and main topological characteristics of the mechanism such as degrees of freedom were verified.Then,the kinematic modeling method based on topological features was used to establish the kinematic model for kinematic analysis,and the symbolic positional positive and negative solutions of the mechanism were studied.According to the positive and negative solutions of the mechanism,the reachable workspace of the mechanism,the velocity and acceleration curves of the middle point of the moving platform of the mechanism and three types of singular positions of the mechanism were studied respectively.Finally,the dynamic model was established and the dynamic analysis was carried out by using the sequential single open chain method based on the principle of virtual work,and the driving force required by the mechanism was studied.The results show that the relative error of the simulation curve and theoretical curve of the speed,acceleration and driving force of the parallel mechanism is less than 2%,and the kinematic and dynamic model of the mechanism is established correctly,which lays a foundation for the error analysis,trajectory planning and control of the mechanism.

关 键 词：并联机构 拓扑设计 位置正反解 运动学分析 动力学分析 

分 类 号：TH112[机械工程—机械设计及理论]