2-PRU-PRRPa并联机构运动学分析与性能优化  

Kinematic Analysis and Optimization Design of 2-PRU-PRRPa Parallel Mechanism

作　　者：张伟中 冯邵江 袁鑫宏 孙鹏 杨超 鹿业波 ZHANG Weizhong;FENG Shaojiang;YUAN Xinhong;SUN Peng;YANG Chao;LU Yebo(School of Mechanical Engineering,Zhejiang Sci-Tech University,Hangzhou 310018,China;School of Automation,Zhejiang Polytechnic University of Mechanical and Electrical Engineering,Hangzhou 310053,China;School of Mechanical Engineering,Zhejiang University of Technology,Hangzhou 310032,China;School of Mechanical and Electrical Engineering,Jiaxing University,Jiaxing 314001,China)

机构地区：[1]浙江理工大学机械工程学院,杭州310018 [2]浙江机电职业技术大学自动化学院,杭州310053 [3]浙江工业大学机械工程学院,杭州310032 [4]嘉兴大学机械工程学院,嘉兴314001

出　　处：《农业机械学报》2025年第1期497-506,共10页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金项目(52105037);浙江省自然科学基金项目(ZCLTGY24E0502);浙江机电职业技术大学科教融合项目(A027121103、A027122203)。

摘　　要：两转一移三自由度并联机构在五轴混联加工装备上应用广泛。受到具有优异性能的商用Exechon并联机构设计的启发,本文提出了一种具有平行四边形子闭环结构分支的2-PRU-PRRPa并联机构。采用螺旋理论分析自由度,求解得到该机构具有2个转动和1个移动自由度。基于闭环矢量法建立了2-PRU-PRRPa并联机构运动学模型,建立驱动关节输入与动平台末端输出之间的映射关系。考虑驱动行程以及奇异位形,采用搜索法对2-PRU-PRRPa并联机构工作空间进行求解。对并联机构运动学方程进行微分得到了机构速度方程,并且基于速度雅可比矩阵分析机构输入、输出与混合奇异位型。根据运动/力传递指标对机构性能进行评价,得到了机构传递性能分布图谱。以优质传递空间优化为目标,基于空间模型法对2-PRU-PRRPa并联机构进行尺度综合。研究结果对五轴混联加工装备研制具有参考价值。In view of the extensive research and application status of the two-rotation-one-translation three-DOF(degrees of freedom)parallel mechanism in five-axis hybrid machining equipment,and inspired by the excellent performance design of the commercial Exechon parallel manipulator,a 2-PRU-PRRPa parallel manipulator with a parallelogram sub-loop structure in its branches was proposed.Firstly,using screw theory for the analysis of the DOF,it was determined that the mechanism possessed two rotational and one translational degrees of freedom.Secondly,based on the closed-loop vector method,the inverse kinematics analysis of the mechanism was carried out,establishing the mapping relationship between the input of the driving joint and the output of the moving platform's end.Thirdly,considering the drive range and singular configurations,the workspace of the 2-PRU-PRRPa parallel mechanism was computed by using a search method.Subsequently,by differentiating the kinematic equations of the parallel mechanism,the velocity equations were derived.Additionally,based on the velocity Jacobian matrix,the input,output,and mixture singular configurations of the manipulator were analyzed.Furthermore,the mechanism's performance was evaluated based on motion/force transmission indices,resulting in a transmission performance distribution map.Aiming for an optimal transmission space,the 2-PRU-PRRPa parallel manipulator was optimized by using spatial modeling methods.The kinematic analysis and performance optimization of the 2-PRU-PRRPa parallel manipulator offered critical insights for the advancement of five-axis hybrid machining systems.

关 键 词：并联机构 运动学分析 性能优化 尺度综合 

分 类 号：TH122[机械工程—机械设计及理论]