具有弯曲平移特性的三平移并联机构设计与分析  

Design and analysis of three-translation parallel mechanismwith bending and translation characteristics

作　　者：蔡祥 高波 石志新[3] CAI Xiang;GAO Bo;SHI Zhixin(School of Mechanical and Electrical Engineering,Hubei Polytechnic Institute,Xiaogan 432000,China;Department of Mechanical and Electrical Engineering,Xinxing Vocational and Technical College,Xinxing 839099,China;School of Advanced Manufacturing,Nanchang University,Nanchang 330031,China)

机构地区：[1]湖北职业技术学院机电工程学院,湖北孝感432000 [2]新星职业技术学院机电工程系,新疆新星839099 [3]南昌大学先进制造学院,江西南昌330031

出　　处：《机电工程》2025年第4期754-765,共12页Journal of Mechanical & Electrical Engineering

基　　金：国家自然科学基金资助项目(52165003)。

摘　　要：常规三平移机构若想实现沿曲线轨迹平移的运动,需花费大量时间进行线性拟合,且实现路径较为繁琐和复杂,为此,提出了一种具有弯曲平移特性的三平移并联机构,利用机构本身结构的约束特性,使机构实现沿曲线轨迹平移运动,降低了机构的控制难度。首先,明确了两类能够实现弯曲平移的支链,设计了一种可以弯曲平移的单回路并联机构,并完成了单回路并联的方位特征集、自由度、约束度等拓扑性能分析;然后,以单回路并联机构为基础,进一步设计了一种三平移并联机构,并完成了其方位特征集、自由度、约束度等拓扑性能分析;接着,基于拓扑结构运动学建模原理,完成了3T并联机构的符号式位置正、逆解方程的构建,并采用实例验证了正、逆解方程的正确性;最后,使用MATLAB软件对该机构的弯曲平移特性进行了仿真实验,分析了该机构所具有的控制优势,完成了对机构的运动学、动力学方程等理论公式的推导,并采用具体数值代入法,对三平移并联机构的正、逆解进行了实例验证。研究结果表明:三平移并联机构在工作空间内具有平直运动和弯曲平移的移动特性,动平台满足设计要求;速度及加速度曲线变化平稳、无突变,不会产生柔性冲击,具有较好的动力学性能。具有弯曲平移特性的三平移并联机构在理论研究和实际应用方面均具有较高价值。If the conventional three-translation mechanism wants to translate along the curve trajectory,it needs a lot of time for linear fitting,and its realization path is complicated.Therefore,a three-translation parallel mechanism with bending and translation characteristics was proposed.By using the constraint characteristics of the mechanism itself,the mechanism can move in translation along the curve trajectory,it reduces the control difficulty of the mechanism.Firstly,two types of branches were identified to achieve bending translation,a single loop parallel mechanism to achieve bending translation was designed,and the topological performance analyses of the position and orientation characteristics set,degrees of freedom,constraints,and other aspects of the single loop parallel mechanism were completed.Secondly,based on a single loop parallel mechanism,a three-translation parallel mechanism was further designed,and its topological performance analysis including position and orientation characteristics set,degrees of freedom,and constraints was completed.Then,based on the principle of topological structure kinematic modeling,the construction of symbolic position forward and inverse equations for a three-translation parallel mechanism was completed,and the correctness of the forward and inverse equations was verified through examples.Finally,the bending and translation characteristics of the mechanism were simulated by MATLAB software,the control advantages of the mechanism were analyzed,the kinematics and dynamics equations of the mechanism were deduced,and the forward and inverse solutions of the three-translation parallel mechanism were tested by using the concrete numerical substitution method,and the correctness of the forward and inverse solutions was verified.The experimental results show that the three-translation parallel mechanism has the characteristics of flat motion and bending translation in the working space,and the moving platform meets the design requirements.The velocity and acceleration curves chan

关 键 词：机构学 拓扑设计 机构控制精度 解析解 符号式位置正解 零耦合度 控制算法 

分 类 号：TH112[机械工程—机械设计及理论]