摘要
基于方位特征(POC)方程的并联机构拓扑设计理论与方法,设计了一种可用于抓取的新型三平移(3T)并联机构。首先,阐述了整个机构的设计过程并对机构的基本拓扑特征进行了分析计算,证明该机构包含两个耦合度κ为0的子运动链(SKC);接着,根据基于拓扑特征的并联机构运动学建模原理,以SKC为序,分别对机构的位置正、反解及其构型进行了求解与分析;然后,根据基于SKC的奇异性分析方法,计算分析了该机构每个SKC内部发生第一和第二类奇异时对应的奇异位形;最后,分析并选取出该机构内部速度传递因数指标较优的任务工作空间。研究为该机构后续的刚度、动力学分析及工程样机设计奠定了基础。
According to the theory and method of topological design of the parallel mechanism(PM)based on position and orientation characteristic(POC)equations,a novel three-translation(3T)parallel mechanism for grasping is proposed.Firstly,the design process of the entire PM is described and the main topological features of the mechanism are analyzed.It is proved that the mechanism contains two sub-kinematics chains(SKCs)whose coupling degree equals 0.Secondly,according to the kinematics modeling principle for parallel mecha⁃nism based on topological features,the direct kinematics problem(DKP)and inverse kinematics problem(IKP)of the mechanism are solved according to the order of SKC.Then,according to the singularity analysis method based on SKC theory,the first and second kind of singular configurations in each SKC are analyzed.Finally,the task workspace with the optimal internal velocity transmission factors index of the mechanism is analyzed and se⁃lected.This study lays the foundation for the stiffness,dynamics and engineering prototype design of the mecha⁃nism.
作者
赵一楠
沈惠平
陆晨芳
黄晓萍
Zhao Yi'nan;Shen Huiping;Lu Chenfang;Huang Xiaoping(Nanjing Vocational Institute of Mechatronic Technology,Nanjing 211306,China;Research Center of Modern Mechanisms,Changzhou University,Changzhou 213016,China)
出处
《机械传动》
北大核心
2023年第7期58-68,共11页
Journal of Mechanical Transmission
基金
国家自然科学基金项目(51975062)
江苏省青蓝工程优秀教学团队“机械产品数字化创新”。
关键词
并联机构
子运动链
耦合度
速度传递因数
工作空间
Parallel mechanism
Sub-kinematics chain
Coupling degree
Velocity transmission fac⁃tor
Workspace
