运动解耦的单回路平移空间并联机构的拓扑设计与运动尺寸优化  

Single-loop translational space-parallel mechanism with motion decoupling:topological design and kinematics dimension optimization

作　　者：潘海月 沈惠平[1] 杜中秋 李涛[1] 李菊[1] PAN Haiyue;SHEN Huiping;DU Zhongqiu;LI Tao;LI Ju(Research Center for Advanced Mechanism 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：《机械传动》2025年第4期71-79,共9页Journal of Mechanical Transmission

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

摘　　要：【目的】针对现有2自由度并联机构构型创新不足、运动学性能分析不完善等问题,进行了新型单回路平移并联机构拓扑综合与运动学性能研究,为杆式模块化机器人提供基础运动单元设计理论。【方法】首先,根据基于方位特征(Position and Orientation Characterization,POC)的并联机构拓扑设计方法,提出了4个由2个移动副和5个转动副组成的单回路平移空间并联机构,对其进行拓扑分析;其次,分别推导出4个平移并联机构的符号化位置正反解,以及发生奇异的条件及其奇异位置,并分别进行了数值算例验证;最后,运用差分进化算法,以最大工作空间为优化目标,分别对4个机构进行尺度优化并求得其最大工作空间。【结果】这种单回路平移空间并联机构可用于设计杆式模块化机器人的单元,研究为基于这种单元的杆式模块化机器人的构型设计与分析奠定了基础。[Objective] In response to the issues such as insufficient configuration innovation and incomplete kinematic performance analysis in existing 2-degree-of-freedom parallel mechanisms,the topological synthesis and kinematic performance studies on the novel single-loop translational parallel mechanisms were conducted,aiming to provide fundamental motion unit design theories for link-type modular robots.[Methods] Firstly,according to the topology design methodology of the parallel mechanism(PM) based on position and orientation characterization(POC),four single-loop translational spatial PMs consisting of two prismatic joints and five rotating joints were proposed,and their topological analysis was performed.Secondly,the symbolic positional positive and negative solutions,workspaces,and the singularities and their singular positions were derived for each of the four PMs and verified,respectively.Finally,the differential evolution algorithm was used to optimize the maximum workspace of the four mechanisms,and their maximum workspace were finally obtained.[Results] This single-loop translation spatial parallel mechanism can be used to design the unit of modular rod-type robots.This work lays a foundation for the design and its stiffness,kinematic error,dynamics analysis of the modular robot based on this unit.

关 键 词：单回路平移并联机构 拓扑设计 运动解耦 符号解 尺度优化 

分 类 号：TH112[机械工程—机械设计及理论]