沈惠平,张震,杨廷力,邵国为.3T1R并联机构结构降耦设计与运动学分析[J].农业机械学报,2017,48(10):380-389,400.
SHEN Huiping,ZHANG Zhen,YANG Tingli,SHAO Guowei.Structure Coupling-reducing Design and Kinematics Analysis of 3T1R Parallel Mechanism[J].Transactions of the Chinese Society for Agricultural Machinery,2017,48(10):380-389,400.
摘要点击次数: 1768
全文下载次数: 1058
3T1R并联机构结构降耦设计与运动学分析   [下载全文]
Structure Coupling-reducing Design and Kinematics Analysis of 3T1R Parallel Mechanism   [Download Pdf][in English]
投稿时间:2017-01-17  
DOI:10.6041/j.issn.1000-1298.2017.10.049
中文关键词:  并联机构  方位特征  耦合度  结构降耦  运动学分析  一维搜索法
基金项目:国家自然科学基金项目(51475050、51375062)和江苏省重点研发计划项目(BE2015043)
作者单位
沈惠平 常州大学 
张震 常州大学 
杨廷力 常州大学 
邵国为 常州大学 
中文摘要:根据基于方位特征(POC)的并联机构设计理论与方法,提出了一种结构简单、能实现三平移一转动的并联机构,拓扑结构分析后发现其耦合度k较大(k=2),其位置正解及动力学计算较复杂;为此,设计了结构降耦后的新机型,证明其耦合度k=1,其位置正解易用一维搜索法求出,并给出了基于序单开链法的该机构位置正解求解的一维搜索法及其数值解;同时,基于导出的机构位置反解公式,分析了动平台的工作空间及其转动能力,探讨了该机构发生3种奇异位形的条件。
SHEN Huiping  ZHANG Zhen  YANG Tingli  SHAO Guowei
University of Changzhou,University of Changzhou,University of Changzhou and University of Changzhou
Key Words:parallel mechanism  orientation characteristic  coupling degree  structure coupling-reducing  kinematics analysis  one-dimensional searching method
Abstract:There is a wide range of industrial applications for the 4-DOF parallel mechanism which can achieve SCARA type output motion (i.e., three translations and one rotation). However, due to the complex topological structures, the research and development of its new model are still relatively few. Firstly, according to the parallel mechanism design theory and method based on the orientation characteristic (POC), a SCARA type parallel mechanism whose structure was simple was proposed. Because the coupling degree was 2, positive solution of position and dynamics calculation of the parallel mechanism were very complex. So the new model after structure coupling-reducing (k=1) was given, its positive solutions can be easily solved by one-dimensional search method. Then the three main topological characteristics of POC set, degree of freedom and the coupling degree were respectively analyzed. The kinematics analysis of the new model whose coupling degree was one after structure coupling-reducing was given, and the solution algorithm for the forward position of this parallel mechanism was established. This method can obtain all the numerical solutions of the forward position by using one-dimensional searching method, and can verify the correctness of the forward position by the derived calculation formula of the inverse position. Finally, based on the inverse position of the mechanism, the working space of this parallel mechanism was obtained and the singularity of the mechanism was discussed, which provided a theoretical foundation for the prototype design and application of this mechanism.

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.

   下载PDF阅读器