一种具有弯曲平移特性的2T1R并联机构设计与位置分析  

Design and Position Analysis of a 2T1R Parallel Mechanism with Bending Translation Characteristics

作　　者：高波 石志新[2] Gao Bo;Shi Zhixin(Department of Mechanical and Electrical Engineering,Xinxing Vocational and Technical College,Xinxing 839000,China;School of Advanced Manufacturing,Nanchang University,Nanchang 330031,China)

机构地区：[1]新星职业技术学院机电工程系,新疆新星839000 [2]南昌大学先进制造学院,江西南昌330031

出　　处：《机械传动》2024年第11期92-98,共7页Journal of Mechanical Transmission

基　　金：国家自然科学基金项目(52165003)。

摘　　要：基于方位特征(Position and Orientation Characteristic,POC)集方程的并联机构设计理论,设计了一种具有符号式位置正解并且存在部分运动解耦特性的两平移一转动(2T1R)并联机构。对该机构进行了方位特征集、自由度以及耦合度等拓扑性能的分析;基于拓扑结构运动学建模原理,求解了该机构的解析式位置正解、解析式逆解,并通过位置逆解进行了验算,证明了该机构具有弯曲平移的运动特性。传统的只有平直运动的2T1R并联机构要实现曲线平移,需要将多个平直移动通过复杂算法进行曲线拟合,而该机构只需通过一维弯曲平移即可实现,极大降低了机构的复杂程度及控制算法的难度。Based on the topological design theory and the method of the parallel mechanism of position and orientation characteristic(POC)theory.A two-translation one-rotation(2T1R)parallel mechanism with symbolic position forward solution and partial motion decoupling characteristics was proposed.The topological performance of the mechanism was analyzed,including orientation features,degrees of freedom,and coupling.Based on the kinematic modeling principle of the topological structure,the analytical position forward solution and analytical inverse solution of the mechanism were solved and verified through the position inverse solution.It has been proven that the mechanism has the motion characteristics of bending and translation.The traditional 2T1R parallel mechanism with only straight motion needs to fit multiple straight movements through algorithms for curve translation.This mechanism can be achieved through only one-dimensional translation,greatly simplifying the complexity of the mechanism and the difficulty of the control algorithm.

关 键 词：并联机构 拓扑设计 弯曲平移 解析解 耦合度 

分 类 号：TH112[机械工程—机械设计及理论]