张彦斌,赵浥夫,李跃松,王增辉,丁丁.无耦合空间移动并联机构型综合[J].农业机械学报,2017,48(1):325-332,316.
ZHANG Yanbin,ZHAO Yifu,LI Yuesong,WANG Zenghui,DING Ding.Structural Synthesis of Uncoupled Spatial Translational Parallel Mechanisms[J].Transactions of the Chinese Society for Agricultural Machinery,2017,48(1):325-332,316.
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无耦合空间移动并联机构型综合   [下载全文]
Structural Synthesis of Uncoupled Spatial Translational Parallel Mechanisms   [Download Pdf][in English]
投稿时间:2016-09-17  
DOI:10.6041/j.issn.1000-1298.2017.01.043
中文关键词:  并联机构  型综合  驱动力螺旋理论  无耦合  雅可比矩阵
基金项目:国家自然科学基金项目(50905055)、河南省高校科技创新团队支持计划项目(15IRTSTHN008)、河南科技大学重大科技项目培育基金项目(2015XTD012)和河南科技大学研究生创新基金项目(CXJJ—2016—ZR03)
作者单位
张彦斌 河南科技大学 
赵浥夫 河南科技大学 
李跃松 河南科技大学 
王增辉 河南科技大学 
丁丁 河南科技大学 
中文摘要:为解决利用一般型综合方法得到的并联机构具有强运动学耦合性的问题,基于驱动力螺旋理论提出了一种无耦合空间移动并联机构型综合的系统方法。首先建立了无耦合移动并联机构运动输入输出关系的数学模型;然后根据机构速度雅可比矩阵为对角阵的条件推导出分支运动链驱动力螺旋和主动运动螺旋的形式;再根据互易积原理建立了分支运动链非主动运动螺旋的确定方法,给出了分支运动链型综合准则和步骤;最后将所综合的3条分支运动链按照指定的配置方式将动平台和静平台连接起来即可得到具有预期运动特性的机构。本文共综合出60种具有对称结构的无耦合空间移动并联机构,其中非过约束机构有47种,含有惰性副的有29种。所得到的部分机构的雅可比矩阵为单位阵,且其条件数恒等于1。这些机构具有较好的运动和力学传递性能,进一步丰富和完善了并联机构的型综合理论。
ZHANG Yanbin  ZHAO Yifu  LI Yuesong  WANG Zenghui  DING Ding
Henan University of Science and Technology,Henan University of Science and Technology,Henan University of Science and Technology,Henan University of Science and Technology and Henan University of Science and Technology
Key Words:parallel mechanism  structural synthesis  actuation wrench screw theory  uncoupled  Jacobian matrix
Abstract:In order to solve the strong kinematics coupling problem of parallel mechanisms obtained by the normal type synthesis approach, a systematic method for structural synthesis of the uncoupled spatial translational parallel mechanisms (USTPM) was presented based on the actuation wrench screw theory. Firstly, mathematic model mapping the relationship between the inputs and the outputs of USTPM was set up. Secondly, both the actuation wrench screw and actuated twist screw’s forms of the kinematical chains were obtained according to the condition that the velocity Jacobian matrix was a diagonal one. Then the rules to determine the non-actuated screws of the limbs were established in terms of the reciprocal product principle. Both criterion and steps of the limb’s type synthesis were proposed as well. Finally, the mechanisms with the expected motion characteristics were designed by selection three limbs synthesized above to connect the platform and the base. Totally 60 symmetrical USTPMs were designed. Among them, 47 mechanisms were non overconstrained and 29 mechanisms were composed of the open single kinematic chains with idle joints. The Jacobian was a diagonal matrix of the synthesized parallel mechanisms. It was more interesting that some mechanisms’ Jacobian was the identical matrix, in which there existed one-to-one linear mapping relationship between the input velocities of the actuated joints and the output velocities of the moving platform for these mechanisms, and condition number of their Jacobians was equal to 1. So these mechanisms showed fully-isotropic throughout their whole workspace. Meanwhile, they performed very well with regard to motion and force transmission. This work contributed to enriching and improving the structural synthesis theory of the parallel mechanisms.

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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