基于四杆张拉整体结构二自由度并联调整平台  

Research on 2-DOF parallel adjustment platform based on the four-bar tensegrity structure

作　　者：孙建伟[1] 文琦 许天阔 SUN Jianwei;WEN Qi;XU Tiankuo(School of Mechatronic Engineering,Changchun University of Technology,Changchun 130012,China)

机构地区：[1]长春工业大学机电工程学院,吉林长春130012

出　　处：《长春工业大学学报》2024年第6期508-518,共11页Journal of Changchun University of Technology

基　　金：中青年科技创新创业卓越人才(团队)项目(创新类)(20220508140RC)。

摘　　要：针对并联机构在智能制造和机器人领域应用中对高精度、强承载和高动态性能的需求,提出一种创新的四杆张拉整体结构二自由度并联调整平台机构。首先基于张拉整体结构,通过建立节点矩阵和轨迹规律确定机构构型,并利用移动副限制实现二自由度翻转,充分发挥其自平衡和自稳定优势;随后通过运动学求解和奇异性分析研究输入输出参数关系,避免奇异点引发的不稳定问题;再通过工作空间求解和仿真分析验证了机构的运动性能和合理性;最后制作物理样机并进行驱动力和定心实验。结果表明,样机具有优异的柔顺性和自平衡、自稳定特性,实际翻转与理论计算基本一致,验证了机构的可行性和设计合理性。此研究为并联机构的优化设计和实用化应用提供了新的理论基础和技术途径,具有重要的工程应用意义。To meet the demands for high precision,strong load-bearing,and dynamic performance in intelligent manufacturing and robotics,this paper introduces a novel two-degree-of-freedom parallel adjustment platform using a four-bar tensegrity structure.The design begins with creating a node matrix and trajectory rules to define the mechanism configuration,utilizing mobility constraints to achieve two-degree-of-freedom tilting and leveraging its self-balancing and self-stabilizing features.Kinematic analysis and singularity assessment are performed to study the input-output relationships and avoid instability due to singular points.Workspace calculations and simulations confirm the mechanism’s performance and feasibility.A physical prototype is built,and tests show excellent compliance and self-balancing,with actual results closely matching theoretical predictions.This research provides a new theoretical and technical basis for optimizing and applying parallel mechanisms in practical scenarios,holding significant engineering value.

关 键 词：并联机构 张拉整体结构 结构设计 动力学分析 

分 类 号：TH112[机械工程—机械设计及理论]