• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2018, Vol. 54 ›› Issue (11): 151-160.doi: 10.3901/JME.2018.11.151

• 机构学及机器人 • 上一篇    下一篇

一种可整周回转的新型3T1R并联机构运动学分析

贺磊盈, 涂叶凯, 叶伟, 李秦川   

  1. 浙江理工大学机械电子工程系 杭州 310018
  • 收稿日期:2017-05-27 修回日期:2017-10-18 出版日期:2018-06-05 发布日期:2018-06-05
  • 通讯作者: 李秦川(通信作者),男,1975年出生,博士,教授。主要研究方向为并联机器人机构学和应用技术。发表论文30余篇。E-mail:lqchuan@zstu.edu.cn
  • 作者简介:贺磊盈,男,1983年出生,博士,讲师。主要研究方向为机器人技术及应用,机器视觉。E-mail:hlying@zstu.edu.cn;涂叶凯,男,1992年出生,硕士研究生。主要研究方向为并联机构性能分析。E-mail:yekaitu@163.com;叶伟,男,1988年出生,博士,讲师。主要研究方向为并联机器人机构学。E-mail:wye@zstu.edu.cn
  • 基金资助:
    国家自然科学基金资助项目(51525504,51475431)。

Kinematics Analysis of a Novel 3T1R Parallel Manipulator with Full Rotational Capability

HE Leiying, TU Yekai, YE Wei, LI Qinchuan   

  1. Department of Mechanical and Electronic Engineering, Zhejiang Sci-Tech University, Hangzhou 310018
  • Received:2017-05-27 Revised:2017-10-18 Online:2018-06-05 Published:2018-06-05

摘要: 具有3移动1转动(3T1R)4自由度并联机构在工业领域具有广泛的应用潜力。然而绝大多数现有的3T1R并联机构的动平台转动范围小于90°。提出一种具有整周回转能力的3T1R并联机构。该机构动、静平台通过两根相同的混联分支(PRR)2RH相连接。通过两个共轴、反向的等螺距螺旋副来实现动平台的整周回转能力。运用李群理论分析了机构的自由度。建立闭环约束方程对机构进行了位置正、反解计算。通过速度分析建立了雅可比矩阵,并在此基础上对机构进行了奇异分析,找到了所有的奇异位形。分析了机构的工作空间,以条件数作为性能指标,绘制了机构在工作空间内的性能分布图。研究结果为该机构后续的优化设计、动力学建模提供了理论基础。

关键词: 并联机构, 工作空间, 奇异分析, 整周回转

Abstract: Parallel mechanisms (PMs) with 3T1R motion can be applied in many industrial fields. However, most of 3T1R PMs have a range of rotation less than 90°. A novel 3T1R PM with full rotational capability is proposed. The mechanism contains two identical (PRR)2RH hybrid limbs, each consists of a closed-loop subchain and a serial subchain. The full rotational capability is achieved by using two coaxial helical (H) joints with equal but opposite pitch connected to the moving platform. The mobility of 2-(PRR)2RH PM is analyzed based on Lie group theory, followed by the inverse and direct position solutions. The Jacobian matrix is derived based on velocity analysis, and singularity analysis is conducted to find all the singular configurations. Taking the condition number as the index, the performance distribution of the PM in the workspace is sketched. The results will provide theoretical foundations for further researches on the mechanism regarding optimal design and dynamic modeling.

Key words: full rotational capability, parallel manipulator, singularity, workspace

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