无耦合两转动一移动并联机构型综合研究  

Research on type synthesis of uncoupling two-rotational and one-translational parallel mechanism

作　　者：魏雪敏 张彦斌[1,2] 芦风林 常振振 WEI Xuemin;ZHANG Yanbin;LU Fenglin;CHANG Zhenzhen(School of Mechatronics Engineering,Henan University of Science and Technology,Luoyang 471003;Center of Machinery Equipment Advanced Manufacturing of Henan Province,Luoyang 471003)

机构地区：[1]河南科技大学机电工程学院,河南洛阳471003 [2]机械装备先进制造河南省协同创新中心,河南洛阳471003

出　　处：《机械设计》2025年第1期37-46,共10页Journal of Machine Design

基　　金：河南省科技攻关项目资助(192102210221)。

摘　　要：文中提出了一种无耦合两转动一移动3自由度并联机构型综合的系统设计方案。首先,基于分支驱动力螺旋理论,建立了机构输入-输出速度之间的映射关系模型;然后,根据速度正、逆雅可比矩阵为对角阵的条件,研究了分支驱动力螺旋与主动螺旋的确定方法;同一分支中除主动螺旋外,根据驱动力螺旋与其他运动螺旋互易积为零的特性,确定出所有可行的非主动运动螺旋的形式,再按照分支连接度的不同,完成了机构分支运动链的构型设计;最后,基于分支运动链的装配条件,实现了无耦合两转动一移动并联机构的型综合。针对所综合出的CRRR-RCPR-PU并联机构,进行自由度分析和运动学建模,验证了所提出型综合方法的正确性和可行性。In this article,a systematic method is proposed,which is used for type synthesis of three degrees of freedom(DOF)uncoupling two-rotational and one-translational(2R1T)parallel mechanisms.Firstly,based on the branch actuationwrench screw theory,efforts are made to set up the mapping relationship model of the mechanism’s input-output velocity.Then,according to the conditions that the direct and the inverse Jacobian matrices are diagonal,the method of determining both the branch actuation-wrench screw and the actuated twist screw is explored.In the same branch,except the actuated twist screw,the actuation-wrench screw and the other motion screws have the zero reciprocal product;on this basis,all feasible forms of nonactuated screw are determined.In addition,according to the difference in branch connectivity,the branch kinematic chain is configurated.Finally,according to the assembly of the branch kinematic chain,the uncoupling 2R1T parallel mechanism is subject to type synthesis.As for the CRRR-RCPR-PU parallel mechanism,DOF analysis and kinematic modeling is conducted.It is verified that this method of type synthesis is correct and feasible.

关 键 词：并联机构 型综合 无耦合 驱动力螺旋理论 

分 类 号：TH112[机械工程—机械设计及理论] TP242[自动化与计算机技术—检测技术与自动化装置]