沈惠平,黄骏,朱帅帅,邓嘉鸣.5—SPS直线动平台并联机构机型与特性研究[J].农业机械学报,2016,47(6):357-365.
Shen Huiping,Huang Jun,Zhu Shuaishuai,Deng Jiaming.Novel Topological Structures and Properties for 5—SPS Parallel Mechanisms with Linear Moving Platform[J].Transactions of the Chinese Society for Agricultural Machinery,2016,47(6):357-365.
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5—SPS直线动平台并联机构机型与特性研究   [下载全文]
Novel Topological Structures and Properties for 5—SPS Parallel Mechanisms with Linear Moving Platform   [Download Pdf][in English]
投稿时间:2015-12-04  
DOI:10.6041/j.issn.1000-1298.2016.06.047
中文关键词:  并联机构  机型设计  耦合度  方位特征集  工作空间  直线动平台
基金项目:国家自然科学基金项目(51375062)、江苏省重点研发计划项目(BE2015043)和江苏省产学研前瞻性项目(BY2015027—24)
作者单位
沈惠平 常州大学 
黄骏 常州大学 
朱帅帅 常州大学 
邓嘉鸣 常州大学 
中文摘要:首先,根据基于方位特征(POC)和有序单开链(SOC)的并联机构结构降耦原理,设计了一类5种5—SPS直线型动平台并联机构,其中,4种为本文提出的新机构;同时,提出了机构的存在性判别式,并据此证明了5种5—SPS直线型动平台机构的存在性,以及6—SPS、4—SPS、3—SPS、2—SPS直线动平台机构的非存在性;其次,对5种5—SPS直线型动平台并联机构的耦合度、输出方位特征、输入—输出运动解耦性等3个重要拓扑结构特性,以及位置工作空间特性,分别进行了计算与比较,结果表明:直线动平台上球副重合可降低机构耦合度及其位置正解求解的难度,但同时会使位置工作空间减小;含三重球副的机构具有输入—输出运动部分解耦性。
Shen Huiping  Huang Jun  Zhu Shuaishuai  Deng Jiaming
Changzhou University,Changzhou University,Changzhou University and Changzhou University
Key Words:parallel mechanism  topological structures design  coupling degree  position and orientation characteristics sets  workspace  linear moving platform
Abstract:Parallel mechanisms with linear moving platform (LMP) have good practical application value, but it was rarely studied. Firstly, using structure coupling-reducing theory based on the position and orientation characteristics (POC) and the ordered single-open-chain (SOC) units, five 5—SPS parallel mechanisms with LMP were designed, and four of them were novel ones. Secondly, the “existence criterion of mechanism” was proposed. Each 5—SPS parallel mechanisms with LMP had its own advantages and applications. Accordingly, the existence of five 5—SPS and the non-existence of 6—SPS, 4—SPS, 3—SPS, 2—SPS parallel configurations with LMP were proved. As a consequence, the criterion can be used to determine the existence of mechanisms. Then, the three important topological characteristics, including coupling degree, the output POC and the input-output motion decoupling, as well as the position workspace characteristics, of the five 5—SPS parallel mechanisms with LMP were separately calculated and compared. It was shown that the coupling degree of mechanisms and difficulty of solving forward displacement analysis can be reduced, but the workspace would be reduced simultaneously when the collinearing or coinciding of the spherical joints on the moving platform was occurred. And the mechanisms with triple-spherical-joint structure had input-output motion decoupling. These results can provide theoretical basis for engineering design, optimal selection and potential use of the five 5—SPS parallel mechanisms with LMP.

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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