摘要
提出一种新型球副机构,即1S机构。该机构由两个转动副和一个等效转动副组成,其运动功能等效为球副。1S机构可通过其变种构型增强刚度和增大运动角度。同时,以1S机构为基础,可构建N-S复合球副机构;与其他运动副进行复合,如移动副、额外的转动副等,可构建X-S机构。在复合铰链中,所有的运动副:(a)均具备相对独立的运动,(b)运动轴线均相交于一点,(c)理论上可包含无数个球副。为验证1S机构的刚度和运动精度,文中建立了其刚度模型、运动学模型、考虑刚度影响的修正的运动学模型以及运动精度模型。通过数值案例分析及仿真验证,表明该球副机构具备足够的刚度和运动精度。新型球副机构的应用之一则是用于3-R(SRS)RP多环机构中的SRS复合铰链,该铰链是基于X-S机构设计且具备7个自由度的运动链,使多环机构可以实现其运动功能。
A novel spherical joint mechanism,i.e.1S mechanism,is proposed in this paper.It consists of two revolute and one equivalent revolute joints.These three joints work as a spherical joint does.Variations of 1S mechanism are represented thereby obtaining high stiffness and large rotary angles.Based on the 1S mechanism,compound spherical hinges(N-S)are structured.By including other kinematic pairs,such as prismatic joint and additional revolute joint,a compound hinge,i.e.X-S,is obtained.Joints in compound hinges(a)have relatively independent motion;(b)have motion axes intersecting at one common point,and(c)can co-exist in a large number.To verify stiffness and motion accuracy of the 1S mechanism,its(a)stiffness model,(b)kinematics model,(c)revised kinematics model by considering stiffness,and(d)motion-accuracy model are built.Results show that the 1S mechanism has enough stiffness and motion accuracy.Based on the spherical joint mechanism,a compound hinge with seven degrees of freedom,which is named as SRS,is designed for a 3-R(SRS)RP multi-loop mechanism.The multi-loop mechanism can realize its motion functions with the SRS compound hinge.
作者
李传扬
唐德威
闫辉垠
郭宏伟
刘荣强
李兵
LI Chuan-yang;TANG De-wei;YAN Hui-yin;GUO Hong-wei;LIU Rong-qiang;LI Bing(State Key Laboratory of Robotics and Systems,Harbin Institute of Technology,Harbin 150080,China)
出处
《宇航学报》
EI
CAS
CSCD
北大核心
2021年第5期562-571,共10页
Journal of Astronautics
基金
国家自然科学基金(U1613201)。
