朱小蓉,宋月月,沈惠平,姚欣,孙晨,杨廷力.基于POC方法的少自由度无过约束并联机构构型综合[J].农业机械学报,2016,47(8):370-377.
Zhu Xiaorong,Song Yueyue,Shen Huiping,Yao Xin,Sun Chen,Yang Tingli.Structural Synthesis Based on POC Set for Lower-mobility Non-overconstrained Parallel Mechanisms[J].Transactions of the Chinese Society for Agricultural Machinery,2016,47(8):370-377.
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基于POC方法的少自由度无过约束并联机构构型综合   [下载全文]
Structural Synthesis Based on POC Set for Lower-mobility Non-overconstrained Parallel Mechanisms   [Download Pdf][in English]
投稿时间:2016-01-10  
DOI:10.6041/j.issn.1000-1298.2016.08.049
中文关键词:  并联机构  少自由度  无过约束  构型条件  构型综合
基金项目:国家自然科学基金项目(51475050)
作者单位
朱小蓉 常州大学 
宋月月 常州大学 
沈惠平 常州大学 
姚欣 常州大学 
孙晨 常州大学 
杨廷力 常州大学 
中文摘要:根据基于方位特征集和序单开链单元的并联机构拓扑结构设计理论,提出了一种基于基本回路过约束特性的无过约束并联机构设计方法。首先,分析动平台方位特征集、支链方位特征集以及基本回路独立位移方程数三者之间的关系,确定了少自由度无过约束并联机构构型的存在条件,给出了无过约束并联机构构型综合的方法和步骤。然后,按照支链类型及其对动平台提供的约束不同,将无过约束并联机构构型分为3类,表明通过不同类型的支链组合可得到不同性能的无过约束并联机构新构型。最后,通过典型实例总结无过约束并联构型的支链组成及其装配规律。
Zhu Xiaorong  Song Yueyue  Shen Huiping  Yao Xin  Sun Chen  Yang Tingli
Changzhou University,Changzhou University,Changzhou University,Changzhou University,Changzhou University and Changzhou University
Key Words:parallel mechanisms  lower-mobility  non-overconstraint  structural condition  structural synthesis
Abstract:Based on the theory of POC and ordered single-opened-chain, a design method for structural synthesis of lower-mobility non-overconstrained parallel mechanisms (PMs) was proposed according to the over-constraint characteristics of independent loops. Firstly, the relationships between POC of mobile platform, POC of kinematic limbs and the number of independent displacement equations of independent loops were analyzed. The existence condition of lower-mobility non-overconstrained PMs was obtained, and the universal method and step for structural synthesis were further proposed. Secondly, the non-overconstrained PMs can be classified into three types of configurations according to different combinations of kinematic limbs and their corresponding constraints on the platform, which showed that the non-overconstrained PMs composed with different types of kinematic limbs had different performances. Finally, the rules of possible kinematic limbs and their assembly modes were illustrated by comparative analysis with a few examples. The research results enriched the analysis theory and methods of non-overconstrained PMs, and laied the foundation for type selection and applications of lower-mobility non-overconstrained PMs.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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