• CN：11-2187/TH
  • ISSN：0577-6686
机械工程学报

机械工程学报 ›› 2016, Vol. 52 ›› Issue (13): 17-24.doi: 10.3901/JME.2016.13.017

• 机构学及机器人 • 上一篇    下一篇

空间单环RPSC机构的运动和奇异分析*

陈子明1,2， 黄坤1,2, 刘晓檬1,2, 张扬1,2, 黄真1,2   

  1. 1. 燕山大学河北省并联机器人与机电系统实验室 秦皇岛 066004,
    2. 燕山大学机械工程学院 秦皇岛 066004
  • 出版日期:2016-07-05 发布日期:2016-07-05
  • 作者简介:

    陈子明(通信作者)，男，1984年出生，博士，讲师。主要研究方向为空间少自由度并联机构的设计和分析理论。

    E-mail：chenzm@ysu.edu.cn

  • 基金资助:
    * 国家自然科学基金(51305381)和高等学校博士学科点专项科研基金联合资助课题(新教师类)(20131333120006)资助项目; 20150807收到初稿，20160311收到修改稿;

Motion and Singularity Analysis of a Spatial Single-loop RPSC Mechanism

CHEN Ziming1，2, HUANG Kun1，2, LIU Xiaomeng1，2, ZHANG Yang1，2, HUANG Zhen1，2   

  1. 1. Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System， Yanshan University，Qinhuangdao 066004,
    2. School of Mechanical Engineering， Yanshan University， Qinhuangdao 066004
  • Online:2016-07-05 Published:2016-07-05

PDF

266

摘要：

单环机构又称单闭链机构，这类机构运动巧妙，在诸多领域有着广泛应用。另外，在工程实际中还常常在开链机构中加入局部闭链以改善动力学性能，增加结构刚度等。介绍一种能够实现垂直Darboux 运动(Vertical Darboux motion， VDM)的空间单环RPSC机构，运用螺旋理论对其约束及运动性质进行分析。通过对锁住其驱动关节后的等价机构进行约束分析，确定了该机构的一类特殊驱动奇异，并借助相对直观的几何方法对RPSC机构中存在的这种奇异位形做进一步解释与说明。对机构中RPS分支的主要特点进行概括，并由特殊到一般地提出了一类具有相似特性的单环机构。

关键词: VDM运动, 螺旋理论, 驱动奇异, 死点, 空间单环机构

Abstract:

Single-loop mechanisms can realize various kinds of motion and have wide applications. Closed chains are often put in the open-chain mechanisms as partial structure to improve the dynamic performance and increase the structure stiffness, which are widely used in engineering practice. A spatial single-loop RPSC mechanism which can realize vertical Darboux motion is introduced and its constraint and motion properties are analyzed based on screw theory. A special class of actuation singularity can be found by analyzing the constraints of this RPSC mechanism after the actuated joint is locked. A more intuitionistic geometric interpretation of this kind of singular configuration is given with the comparison of a similar planar mechanism. The key characteristics of the RPS limb in the mechanism are summarized, on the basis of which a class of more general single-loop mechanisms with similar properties are proposed.

Key words: actuation singularity, dead point, screw theory, vertical Darboux motion, spatial single-loop mechanism

版权所有 © 2019 《机械工程学报》编辑部 | 京icp备05055788号-40