沈惠平,曾氢菲,李菊,尹洪波,朱小蓉.典型并联机构拓扑结构特征分析[J].农业机械学报,2016,47(8):388-398.
Shen Huiping,Zeng Qingfei,Li Ju,Yin Hongbo,Zhu Xiaorong.Topological Structure Characteristics Analysis for Typical and Practical Parallel Mechanisms[J].Transactions of the Chinese Society for Agricultural Machinery,2016,47(8):388-398.
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典型并联机构拓扑结构特征分析   [下载全文]
Topological Structure Characteristics Analysis for Typical and Practical Parallel Mechanisms   [Download Pdf][in English]
投稿时间:2015-11-14  
DOI:10.6041/j.issn.1000-1298.2016.08.051
中文关键词:  并联机构  POC方法  有序单开链  拓扑结构分析  拓扑特征
基金项目:国家自然基金项目(51375062、51405039、51405050)和江苏省重点研发计划项目(BE2015043)
作者单位
沈惠平 常州大学 
曾氢菲 常州大学 
李菊 常州大学 
尹洪波 常州大学 
朱小蓉 常州大学 
中文摘要:采用基于方位特征(POC)和有序单开链(SOC)的并联机构拓扑结构设计理论与方法,对Omni-Wrist III、PS+PRS+PSS、3-RRR球面、2-SPS+1-RPR,以及实现Schoenflies运动的3种3T1R机构(H4、4-R∥R∥R⊥R∥R、X4改进型)等7种具有较好实用价值的典型并联机构进行了拓扑结构具体分析,给出了它们的POC集、自由度、耦合度3个主要拓扑结构特征,这些特征反映了这些机构拓扑结构、运动学及动力学的基本性能,为其拓扑结构优化、运动学与动力学研究,以及设计和应用提供了理论基础;揭示了一些有利于并联机构设计和应用参考的共性规律。
Shen Huiping  Zeng Qingfei  Li Ju  Yin Hongbo  Zhu Xiaorong
Changzhou University,Changzhou University,Changzhou University,Changzhou University and Changzhou University
Key Words:parallel mechanism  position and orientation characteristics method  single-open-chain  topological structure analysis  topological characteristics
Abstract:Development and practical application for practical parallel mechanisms still have a long way to go, the reason is that the topological structure characteristics of the mechanisms are to be revealed. The purpose of topological structure characteristics analysis is to provide criteria for optimization and performance assessment of parallel mechanisms. Using topology structure theory for parallel mechanism based on position and orientation characteristics (POC) and the ordered single-open-chain (SOC), the topology characteristics of six practical and useful parallel mechanisms were analyzed, and three main topological structure characteristics, including the POC set, degree of freedom (DOF) and coupling degree were uncovered. Analysis for topological structure characteristics was an effective method to reveal the structure composition and the topological structure characteristics of mechanisms. The best structural decomposition route can be achieved with the concept of “coupling degree”, the complexity caused for forward kinematic analysis of the mechanisms can be reduced and the forward position solutions of mechanisms can be analyzed efficiently. These characteristics reflected the basic performance of the topological structure, kinematics and dynamics of these mechanisms, which provided theoretical foundation for the optimization of topological structure, kinematics and dynamics as well as application. Topological structural analysis of practical parallel mechanisms can provide comparable schemes for innovative mechanism designs. This work also revealed some general rules which can be beneficial to the design and application for any other 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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