沈惠平,邵国为,朱小蓉,朱伟.基于POC法的多环耦合并联机构拓扑特征分析[J].农业机械学报,2016,47(4):349-354.
Shen Huiping,Shao Guowei,Zhu Xiaorong,Zhu Wei.POC Method Based Topology Characteristic Analysis of Multi-loop Coupled Mechanisms[J].Transactions of the Chinese Society for Agricultural Machinery,2016,47(4):349-354.
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基于POC法的多环耦合并联机构拓扑特征分析   [下载全文]
POC Method Based Topology Characteristic Analysis of Multi-loop Coupled Mechanisms   [Download Pdf][in English]
投稿时间:2015-09-19  
DOI:10.6041/j.issn.1000-1298.2016.04.046
中文关键词:  并联机构  POC法  多环耦合机构  耦合次数  拓扑特性分析
基金项目:国家自然科学基金项目(51375062、51475050、51405039)和江苏省产学研前瞻性联合研究项目(BY2015027—24)
作者单位
沈惠平 常州大学 
邵国为 常州大学 
朱小蓉 常州大学 
朱伟 常州大学 
中文摘要:应用基于POC集和SOC单元的并联机构拓扑结构设计方法(简称POC法),对2个典型的多环耦合机构进行了拓扑特性分析,分析表明,需要在相应的自由度公式和约束度公式中,减去相应的“耦合次数”,才能计算出正确的机构自由度和耦合度,拓扑特征的总体计算过程、步骤和一般并联机构的拓扑特征分析相同;同时表明,POC法能有效分析多环耦合并联机构,且物理、几何意义明确,操作简便易懂;多环耦合机构的结构看似复杂,但其耦合度相对较低,其运动学、动力学分析并不很复杂,因此,也具有一定的应用推广价值,当然,其应用的背景本身有待探索。
Shen Huiping  Shao Guowei  Zhu Xiaorong  Zhu Wei
Changzhou University,Changzhou University,Changzhou University and Changzhou University
Key Words:parallel mechanism  POC method  multi-loop coupled mechanisms  coupling times  topological characteristics analysis
Abstract:Multi-loop coupled mechanism is a new kind of complicated mechanism which has been used in bio-robot, aviation, refuge and other areas. However, it is deficient in theoretical study. The most basic understanding for a new mechanism is to realize its mobility. Multi-loop coupled mechanism, i.e., serial-parallel hybrid mechanism, is different from the general parallel mechanism, and the former is coupled with each other among the branch chains.Therefore, the analysis of topology structure characteristic of multi-loop coupled mechanism is much more complex.Using the topological structure synthesis theory for parallel mechanism based on POC set and SOC unit ( POC method, for short),the two classic multi-loop coupled mechanisms, symmetrical and asymmetrical ones, were analyzed. The correct degree of freedom and coupling degree could be calculated only if “coupling-number” was subtracted correspondingly by number of degree of freedom (DOF) and constrain degree when using the corresponding DOF formula and constrain formula.The coupling-number meant the coinciding number for over three branch chains, which was similar to the multiple-kinematic joint in the planar linkages. The result demonstrated that POC method can effectively analyze the multi-loop coupled mechanisms, and its physical and geometrical meanings were clear and the operation was simple and easy to understand. The structure of the multi-loop coupled mechanisms was seemingly complex,but its coupling degree was relatively low compared with 6-SPS Stewart-Gough platform with coupling degree of 3, and the kinematics and dynamic analyses were not complex.Therefore,the multi-loop coupled mechanisms have potential application value, and the application background still needs to be explored.

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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