正解符号化且运动解耦的2T1R并联机构拓扑设计与分析  

Topological Design and Analysis of Novel 2T1R Parallel Mechanism with Symbolic Forward Solutions and Motion Decoupling

作　　者：沈惠平[1] 孔祥超 李菊[1] 叶鹏达 SHEN Huiping;KONG Xiangchao;LI Ju;YE Pengda(Research Center for Advanced Mechanisms Theory,Changzhou University,Changzhou 213164,China)

机构地区：[1]常州大学现代机构学研究中心,常州213164

出　　处：《农业机械学报》2024年第5期449-458,共10页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金项目(52375007、51975062);江苏省产业前瞻与关键核心技术重点项目(BE2021016-2)。

摘　　要：基于方位特征(POC)方程的并联机构设计理论与方法,设计了一种全部由低副组成、具有位置正解符号化且部分运动解耦的两平移一转动(2T1R)并联机构,并对机构的主要拓扑特征(POC、自由度、耦合度、运动解耦性)进行分析与计算;基于拓扑特征运动学建模原理,导出机构符号式位置正解和反解;同时,由位置反解分析了机构奇异性,基于符号式位置正解求解了机构工作空间;根据基于虚功原理的序单开链法,对该机构动力学性能进行分析,计算得施加在3个驱动副上的驱动力;最后,对该机构应用于无人机操作及其安全着陆的动作原理进行了概念设计阐述。Based on the design theory and methodology of parallel mechanisms(PM)based on position and orientation characteristics(POC)equations,a two-translation-rotation(2T1R)PM was designed.It consisted of low pairs and possesses symbolic forward solutions as well as partial motion decoupling.The primary topological features of the PM,including POC,degree of freedom,coupling degree,and motion decoupling were analyzed.Subsequently,based on the kinematic modeling principle derived from topological characteristics,symbolic position forward and inverse solutions for the PM were obtained.Simultaneously,singularity analysis was conducted by using the inverse position solution while solving for the workspace of the PM based on symbolic solutions.Furthermore,employing a sequential single-open-chain method grounded in virtual work principles enables dynamic performance analysis of the PM along with calculation of actuated forces exerted on its three driving pairs.The maximum driving forces required for the three sliders were-58.52 N,47.28 N and 64.10 N,respectively.Ultimately,this PM can be utilized as an end-effector and safety lander for UAVs;their conceptual design was elaborated upon.The research can provide a theoretical basis for kinematics and dynamics modeling and analysis of 2T1R parallel mechanism symbolized by positive solution and kinematically decoupled,as well as mechanism performance optimization and prototype development.

关 键 词：并联机构 拓扑分析 运动学 工作空间 奇异性 逆动力学 

分 类 号：TH112[机械工程—机械设计及理论]