基于最优路径的并联机构自由度计算方法及其新公式  

New Method and Formula for Degree-of-freedom Calculation of Parallel Mechanism Based on Optimal Paths

作　　者：沈惠平[1] 李菊[1] 朱小蓉[1] 李涛[1] 孟庆梅[1] 朱伟[1] 叶鹏达 SHEN Huiping;LI Ju;ZHU Xiaorong;LI Tao;MENG Qingmei;ZHU Wei;YE Pengda(Research Center for Advanced Mechanisms Theory,Changzhou University,Changzhou 213164)

机构地区：[1]常州大学现代机构学研究中心,常州213164

出　　处：《机械工程学报》2024年第19期40-52,共13页Journal of Mechanical Engineering

基　　金：国家自然科学基金资助项目(52375007,51975062)。

摘　　要：用于一般过约束和无过约束并联机构的非瞬时自由度计算公式(Yang-Sun公式),是针对由纯简单支链、按纯并联形式组成的典型并联机构而导出的,自由度计算时没有考虑最佳计算路径。因此,当它用于含有两条及以上混合支链的复杂并联机构(含广义闭环并联机构)自由度计算时,存在“计算路径”冗长、回路独立位移方程数的计算过程繁杂、不能清晰显示出各回路对前一个子并联机构自由度的影响等不足。为此,提出基于最优路径的并联机构自由度计算的新方法和公式;该方法计算过程简便、计算量少,而且能明确显示出各回路对整个并联机构自由度的具体影响过程,特别适合于含两条及以上混合支链的一般过约束和无过约束并联机构的非瞬时自由度计算。The non-instantaneous degree-of-freedom(DOF)calculation formula(Yang-Sun formula)for the general over-constraint and non-constraint parallel mechanisms(PMs)is derived for the typical PMs composed of simple branch chain in parallel form,and the optimal path is not taken into account during the DOF calculation.Therefore,when the formula is used to DOF calculation for complex PMs that contain two or more hybrid chain(including generalized hybrid loop PMs),the“calculation paths”are long,calculation process of the independent displacement equation number of loop are complex,the influence of the DOF of each loop on the previous sub-PMs is also cannot be clearly shown.To this end,a new method and DOF formula of PM based on the optimal path is proposed.This presented method is simple,less calculation,and can clearly show the specific influence of the DOF of each loop on the whole DOF of PM,which is especially suitable for the calculation of non-instantaneous DOF of general over-constraint and non-constraint PMs with two or more hybrid branch chains.

关 键 词：自由度 并联机构 混合支链 

分 类 号：TH11[机械工程—机械设计及理论]