胡波,高添,曾达幸,卢文娟,王帅,王国永.(2-RPU+UPU)+(RR)混联机构末端约束和运动耦合分析[J].农业机械学报,2023,54(10):416-420，458.
HU Bo,GAO Tian,ZENG Daxing,LU Wenjuan,WANG Shuai,WANG Guoyong.Terminal Constraint and Kinematic Coupling of (2-RPU+UPU)+(RR) Hybrid Mechanism[J].Transactions of the Chinese Society for Agricultural Machinery,2023,54(10):416-420，458.
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| (2-RPU+UPU)+(RR)混联机构末端约束和运动耦合分析 [下载全文] |
| Terminal Constraint and Kinematic Coupling of (2-RPU+UPU)+(RR) Hybrid Mechanism [Download Pdf][in English] |
| 投稿时间：2023-04-10 |
| DOI：10.6041/j.issn.1000-1298.2023.10.042 |
| 中文关键词: 混联机构 末端约束 运动耦合 运动学 Grassmann-Cayley代数 |
| 基金项目:国家自然科学基金面上项目(52275033)、河北省中央引导地方科技发展资金项目(206Z7602G)、广东省普通高校机器人与智能装备重点实验室项目(2017KSYS009)、东莞理工学院机器人与智能装备创新中心项目(KCYCXPT2017006)和东莞市科技特派员项目(20211800500242) |
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| 中文摘要:少自由度混联机构有特殊的末端约束形式，同时其末端六维运动参数存在高度耦合，而以往对此类机构的研究多针对并联和串联模块分别开展，导致混联机构的整机末端约束和运动耦合研究被忽视，此类机构的约束和运动分析存在缺陷。本文采用Grassmann-Cayley代数分析了(2-RPU+UPU)+(RR)机构的末端约束，基于该机构的约束方程建立了其末端运动耦合模型，并以此得到了该机构修正的运动学反解模型。末端约束分析结果表明(2-RPU+UPU)+(RR)机构的末端约束为一个螺旋(1H)型约束，其自由度形式为两转两移一螺旋(2R2T1H)型运动。运动耦合结果表明该机构6维位姿耦合关系表现为一个多元耦合方程，在给定其中的5个独立参数后，另一个参数可通过该耦合方程确定。本文建立的(2-RPU+UPU)+(RR)机构的约束分析和运动耦合模型可为少自由度混联机构的末端约束和运动耦合分析提供参考。 |
| HU Bo GAO Tian ZENG Daxing LU Wenjuan WANG Shuai WANG Guoyong |
| Yanshan University;Dongguan University of Technology; Hebei Petroleum University of Technology |
| Key Words:hybrid mechanism terminal constraint kinematic coupling kinematics Grassmann-Cayley algebra |
| Abstract:The lower mobility hybrid mechanism has a special form of terminal constraints, and its terminal motion parameters are highly coupled. The parallel and serial modules of the hybrid mechanisms were often studied separately in the previous researches, resulting in the neglect of the research on the terminal constraint and motion coupling of the whole hybrid mechanism. There are defects in the constraint and motion analysis of this kind of mechanisms. The terminal constraint of the (2-RPU+UPU)+(RR) mechanism was analyzed by using the Grassmann-Cayley algebra. Based on the constraint equations, the terminal motion coupling model of this mechanism was established. Then the modified inverse kinematics of this mechanism was obtained subsequently. The result of terminal constraint analysis showed that the terminal constraint of the (2-RPU+UPU)+(RR) mechanism was a helical (1H) type constraint, and its degree of freedom was two rotational (2R), two translation (2T) and one 1H type motion. The result of motion coupling analysis showed that the 6-dimensional pose coupling relationship of the (2-RPU+UPU)+(RR) mechanism was expressed in the form of a multivariate coupling equation. The constraint analysis and motion coupling model of the (2-RPU+UPU)+(RR) mechanism established provided a reference for the terminal constraint and motion coupling analysis of lower mobility hybrid 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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