摘要
提出了一种新型面对称两移动两转动2RUPaR-2RRU并联机构,应用旋量理论分析其自由度,并确定了其运动特性。该机构可作为振动筛的本体结构。建立机构位置分析模型,得到位置逆解解析表达式;应用矢量法分析机构速度,得到输入、输出Jacobian矩阵,并据此分析了机构奇异位形;应用输入、输出传递指标评价机构运动和力传递性能,给出有效传递姿态工作空间和有效传递位置工作空间(Effective transmission positional workspace,ETPW)的定义和数值计算方法。以ETPW最大为目标,建立机构尺度参数约束优化模型,并应用差分进化算法求解该问题;给出了机构尺度优化设计实例。结果表明,模型和算法可行有效,优化后的机构ETPW明显增大。
A novel plane symmetric 2RUPaR-2RRU parallel mechanism with two translational and two rotational degrees of freedom is proposed,and it is can be used as the main body structure of a vibrating screen.The screw theory is applied to analyze its degrees of freedom and to identify the motion characteristics. The displacement analysis model is established to obtain the analytical expressions of inverse displacement solutions to this mechanism. This study analyzes the velocity of the mechanism by means of the vector method and derives the input and output Jacobian matrices. On this basis,the possible singular configurations of the mechanism are investigated. The input and output transmission indices are used to evaluate the motion and force transmission performances of the mechanism. Furthermore,the definition,the numerical calculation method of the effective transmission orientation workspace and the effective transmission positional workspace(ETPW)are introduced.A constrained optimization model is constructed to formulate the design problem of dimensional parameters on the maximizing ETPW,and the differential evolutionary algorithm is employed to solve this problem. A case of dimensional optimization design of the mechanism is given to show that the presented model and algorithm are feasible and effective. The ETPW of the mechanism obtained by optimization design is better than that obtained by the experience design.
作者
车林仙
何兵
李杰
蒋海义
Che Linxian;He Bing;Li Jie;Jiang Haiyi(School of Intelligence Manufacturing,Chongqing Vocational Institute of Engineering,Chongqing 402260,China;Chongqing Municipal Key Laboratory of Mechanism Design and Control for Manufacturing Equipment,Chongqing Technology and Business University,Chongqing 400067,China;School of Intelligence Manufacturing and Automotive Engineering,Luzhou Vocational and Technical College,Luzhou 646600,China)
出处
《机械传动》
北大核心
2022年第9期49-58,共10页
Journal of Mechanical Transmission
基金
重庆市自然科学基金(cstc2020jcyj-msxmX0074)
重庆市教育委员会科学技术研究重点项目(KJZDK201803401,KJZD-K202101001)
泸州职业技术学院科研创新团队建设项目(2021YJTD04)。
关键词
并联机构
位置分析
奇异位形
性能指标
尺度参数优化
Parallel mechanism
Displacement analysis
Singular configuration
Performance Index
Dimensional parameters optimization
