石志新,叶梅燕,罗玉峰,杨廷力.四自由度两模式并联机构结构综合与位置分析[J].农业机械学报,2017,48(4):383-389.
SHI Zhixin,YE Meiyan,LUO Yufeng,YANG Tingli.Type Synthesis and Position Analysis of 4-DOF Parallel Mechanisms with Two Operation Modes[J].Transactions of the Chinese Society for Agricultural Machinery,2017,48(4):383-389.
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四自由度两模式并联机构结构综合与位置分析   [下载全文]
Type Synthesis and Position Analysis of 4-DOF Parallel Mechanisms with Two Operation Modes   [Download Pdf][in English]
投稿时间:2016-08-02  
DOI:10.6041/j.issn.1000-1298.2017.04.051
中文关键词:  并联机构  运动分岔  操作模式  位置分析
基金项目:国家自然科学基金项目(51365036、51475050)
作者单位
石志新 南昌大学 
叶梅燕 南昌大学 
罗玉峰 南昌大学 
杨廷力 中国金陵石化公司 
中文摘要:为设计可实现一机多用的并联机构,提出了多模式并联机构的结构类型综合方法以及操作模式分析方法。首先利用方位特征集方法,综合得到一类(640种)具有运动分岔特性的4自由度并联机构;然后从中优选出一种机构进行操作模式分析,分析结果表明:机构处于分岔奇异点时动平台瞬时自由度为5,此时采用冗余驱动的方法可引导动平台通过分岔奇异点顺利到达三平移一转动或两平移两转动模式;最后推导了该并联机构处于上述2种操作模式时的位置正、逆解分析方程,得知位置逆解方程和三平移一转动模式时的位置正解方程均可解析求解。
SHI Zhixin  YE Meiyan  LUO Yufeng  YANG Tingli
Nanchang University,Nanchang University,Nanchang University and Jinling Petrochemical Corporation
Key Words:parallel mechanism  bifurcated motion  operation mode  position analysis
Abstract:To develop reconfigurable manufacturing systems with a short changeover time, parallel mechanisms with multiple operation modes had received much attention from researchers. However, the current researches on multiple modes were mostly concentrated on the 3-DOF parallel mechanisms. A simple method of type synthesis and operation mode analysis for 4-DOF parallel mechanisms with both two-dimension translation and two-dimension rotational operation mode and three-dimension translation and one-dimension rotational operation mode was put forward. Type synthesis of 4-DOF parallel mechanisms was introduced based on the theory of position and orientation characteristics. And one family of 4-DOF parallel mechanisms with two operation modes was presented. Then, one topology was selected from the different possibilities of parallel manipulators after imposing some practical requirements. The selected parallel manipulator had instantaneously five degrees of freedom at the constraint singular configuration. The parallel manipulator must pass through singular configuration when it was switched from one operation mode to another. Redundant actuators were used to ensure that the parallel manipulator can pass through the singular configuration. Finally, the forward and inverse kinematic equations of the parallel manipulator with bifurcated motion in different operation modes were derived. The parallel manipulator presented was intended to be used in manufacturing application.

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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