并联机构瞬轴面研究进展  

State of the Art of Axodes Traced by Parallel Mechanism

作　　者：张雷雷 赵延治[2] 赵铁石[2] ZHANG Leilei;ZHAO Yanzhi;ZHAO Tieshi(School of Mechanical and Equipment Engineering,Hebei University of Engineering,Handan 056038;Heibei Provincial Key Laboratory of Parallel Robot and Mechatronic System,Yanshan University,Qinhuangdao 066004)

机构地区：[1]河北工程大学机械与装备工程学院,邯郸056038 [2]燕山大学河北省并联机器人与机电系统实验室,秦皇岛066004

出　　处：《机械工程学报》2023年第21期131-146,共16页Journal of Mechanical Engineering

基　　金：河北省自然科学基金(E2021203125,206Z1807G)资助项目。

摘　　要：沿动定瞬轴面连续地螺旋对滚,是并联机构固有的运动特性,也是并联机构转动和移动强耦合输出的几何表现形式。这种复杂空间刚体运动,极大地增加了并联机构的运动学标定和控制的难度。近年来,有学者利用瞬轴面来定性地描述这类机构的复杂运动特性,也有学者利用瞬轴面来优化设计机构。最近,有学者提出了动定瞬轴面螺旋对滚方程,来定量地计算这种复杂的空间运动。但是,瞬轴面在并联机构学中的研究和应用,并未受到国内外学者的广泛关注。为此,首先分析了并联机构的运动特性,综述了并联机构转轴和瞬轴面的分布规律,回顾了并联机构瞬轴面的计算方法和动定瞬轴面螺旋对滚方程的推导过程,并给出了该方程的几何应用。最后,展望了瞬轴面在并联机构学研究中的发展方向。Screw rolling along the moving and fixed axodes is the intrinsic motion characteristic of PMs(parallel mechanisms).It is also the geometric presentation of the close coupling of rotation and translation of PMs.This close coupling motion greatly increases the difficulty of kinematic calibration and control of PMs.So,in recent years,some scholars have qualitatively described the complex motion characteristics of such PMs and optimized the mechanism design by the axode.One of them has developed the screw rolling equation between fixed and moving axodes,which can quantificationally compute the rigid motion produced by the screw rolling along the moving and fixed axodes.However,their research and application in the theory of PMs have never got much attention from domestic and foreign scholars.So,the motion characteristics of PMs are analyzed.The distribution regularity of the rotation axis and axodes of PMs,the computing method of axodes,and the derivation procedure of the screw rolling equation are reviewed.Then its application in the derivation of cycloid parameter equation is presented.Finally,the development tendency of axodes research in the theory of PMs has been prospected..

关 键 词：瞬轴面 并联机构 本征基旋量 拟圆柱面 节距双曲面 

分 类 号：TH112[机械工程—机械设计及理论]