完全各向同性五自由度混联机构型综合

doi:10.3901/JME.2018.05.029

机械工程学报 ›› 2018, Vol. 54 ›› Issue (5): 29-37.doi: 10.3901/JME.2018.05.029

完全各向同性五自由度混联机构型综合

曹毅^1,2,3,4, 周睿¹, 秦友蕾¹, 葛姝翌¹, 丁锐¹

1. 江南大学机械工程学院无锡 214122;
2. 上海交通大学系统控制与信息处理教育部重点实验室上海 200240;
3. 上海交通大学机械系统与振动国家重点实验室上海 200240;
4. 江苏省食品先进制造装备技术重点实验室无锡 214122

收稿日期:2016-12-10 修回日期:2017-04-24 出版日期:2018-03-05 发布日期:2018-03-05
通讯作者: 曹毅(通信作者),男,1974年出生,博士,教授,硕士研究生导师。主要研究方向为机器人机构学及机器人技术。E-mail:caoyi@jiangnan.edu.cn
基金资助:
国家自然科学基金（50905075，51505190）、江苏省“六大人才高峰”资助项目（ZBZZ-012）、系统控制与信息处理教育部重点实验室开放课题（scip201506）和机械系统与振动国家重点实验室开放课题（MSV201712）资助项目。

Structural Synthesis of Fully-isotropic Five Degree-of-freedom Hybrid Kinematic Mechanisms

CAO Yi^1,2,3,4, ZHOU Rui¹, QIN Youlei¹, GE Shuyi¹, DING Rui¹

1. School of Mechanical Engineering, Jiangnan University, Wuxi 214122;
2. Key Laboratory of System Control and Information Processing, Shanghai 200240;
3. State Key Laboratory of Mechanical System and Vibration, Shanghai 200240;
4. Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment and Technology, Wuxi 214122

Received:2016-12-10 Revised:2017-04-24 Online:2018-03-05 Published:2018-03-05

摘要/Abstract

摘要： 针对混联机构内部耦合性带来运动学分析困难的问题，基于G_F集理论提出了一种简单而有效的三移动两转动（3T2R）完全各向同性构型综合方法。介绍了G_F集的基本概念和运算法则。通过分析混联机构组成特点，提出了将并联、串联模块按照G_F集求和运算以及G_F集元素组合原则构造完全各向同性混联机构的方法，建立了混联机构数综合方程。同时给出了机构输入运动副选择原则和支链设计准则，确保了混联机构中各模块运动的解耦性。按照完全各向同性混联机构设计步骤，得到了构成完全各向同性3T2R混联机构各模块单元的组合形式。以其中一种组合形式为例，综合出了完全各向同性3T2R五自由度混联机构。基于约束螺旋理论，分析了所综合出的一种混联机构的自由度，通过ADAMS建模得以验证，通过对模型运动仿真，绘制出机构末端输出速度曲线，验证了完全各向同性构型综合方法的正确性。

关键词: 3T2R, 混联机构, 完全各向同性, 型综合

Abstract: To avoid the difficulties caused by the existence of coupling feature of hybrid kinematic mechanisms (HKMs) in the kinematics analysis, a very simple but effective structural design principle for synthesis of fully-isotropic HKMs is proposed based on G_F set. The basic concept and mathematical operations of G_F set are introduced. A structural synthesis method for synthesis of fully-isotropic HKMs is firstly proposed by analyzing characteristics of structure composition of HKMs. It is shown that structural synthesis of fully-isotropic HKMs can be accomplished by the combination of elements of G_F set. Then, number synthesis formulas are set up and a detailed algorithm of structural synthesis for fully-isotropic HKMs is proposed. The selection criterion of the input pair and the type synthesis principle of decoupled branches are given, hence, fully-isotropic feature of various branches' input is ensured. Furthermore, according to the structural synthesis method for fully-isotropic HKMs, specific process for structural synthesis of three-translational and two-rotational (3T2R) five degrees-of-freedom (DOF) fully-isotropic HKMs is illustrated. Finally, constrained screw theory is exploited to calculate the DoF of a HKM, simulation model is built with ADAMS software, and the generalized velocity curves of the end-effector of the HKM are drawn to prove correctness of the structural synthesis method for fully-isotropic HKMs.

Key words: 3T2R, fully-isotropic, hybrid Kinematic mechanisms, structural synthesis

中图分类号:

TH112

曹毅, 周睿, 秦友蕾, 葛姝翌, 丁锐. 完全各向同性五自由度混联机构型综合[J]. 机械工程学报, 2018, 54(5): 29-37.

CAO Yi, ZHOU Rui, QIN Youlei, GE Shuyi, DING Rui. Structural Synthesis of Fully-isotropic Five Degree-of-freedom Hybrid Kinematic Mechanisms[J]. Journal of Mechanical Engineering, 2018, 54(5): 29-37.

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完全各向同性五自由度混联机构型综合

Structural Synthesis of Fully-isotropic Five Degree-of-freedom Hybrid Kinematic Mechanisms

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