空间平动柔性并联机构的系统设计方法研究

doi:10.3901/JME.2018.13.057

机械工程学报 ›› 2018, Vol. 54 ›› Issue (13): 57-65.doi: 10.3901/JME.2018.13.057

• 特邀专栏：柔性机构及机器人 • 上一篇下一篇

空间平动柔性并联机构的系统设计方法研究

李海洋¹, 郝广波², 于靖军³, 邓子龙⁴, 宋增旺⁵

1. 爱尔兰国立科克大学丁达尔国家研究院科克爱尔兰;
2. 爱尔兰国立科克大学工程学院科克爱尔兰;
3. 北京航空航天大学学机器人研究所北京 100191;
4. 辽宁石油化工大学机械工程学院抚顺 113001;
5. 北方重工集团有限公司矿业装备分公司沈阳 110141

收稿日期:2017-07-03 修回日期:2017-11-21 出版日期:2018-07-05 发布日期:2018-07-05
通讯作者: 郝广波(通信作者),男,1981年出生,博士,博士研究生导师。主要研究方向为柔性机构、并联机构。E-mail:g.hao@ucc.ie
作者简介:李海洋,男,1980年出生,博士。主要研究方向为柔性机构、并联机构。E-mail:haiyang.li@umail.ucc.ie;于靖军,男,1974年出生,博士,教授,博士研究生导师。主要研究方向为柔性机构、并联机构。E-mail:jjyu@buaa.edu.cn;邓子龙,男,1967年出生,教授。主要研究方向为机电液一体化,机械现代设计与理论。E-mail:dzl56801@sina.com;宋增旺,男,1982年出生,硕士,工程师。主要研究方向为矿业装备,特别是碎磨设备。E-mail:zengwang.song@nhi.com.cn
基金资助:
国家自然科学基金（51575017）和爱尔兰IRCSET博士基金资助项目（RS/2012/361）。

Systematic Approach to the Design of Spatial Translational Compliant Parallel Mechanisms

LI Haiyang¹, HAO Guangbo², YU Jingjun³, DENG Zilong⁴, SONG Zengwang⁵

1. Tyndall National Institute, University College Cork, Cork, Ireland;
2. School of Engineering-Electrical and Electronic Engineering, University College Cork, Cork, Ireland;
3. Robotics Institute, Beihang University, Beijing 100191;
4. School of Mechanical Engineering, Liaoning Shihua University, Fushun 113001;
5. Mining Equipment Company, Northern Heavy Industries Group Co., Ltd., Shenyang 110141

Received:2017-07-03 Revised:2017-11-21 Online:2018-07-05 Published:2018-07-05

摘要/Abstract

摘要： 由于在微纳操作、能量捕获、先进传感等系统中的成功应用，空间平动柔性并联机构的市场需求与日俱增，促使对空间平动柔性并联机构设计方法的研究炙手可热。提出了一个基于位置空间概念的空间平动柔性并联机构的系统设计方法（简称为PSBD方法）。PSBD方法主要用于系统设计3腿（即无冗余柔性腿）空间平动柔性并联机构。首先介绍了空间平动柔性并联机构及其基本的设计要求，然后提出了PSBD方法并阐述了其基本原理和实现步骤，继而通过实例的方式详细解释了PSBD方法所涉及的关键技术问题。利用所提出的PSBD方法，即使是初级设计师也能够设计出具有结构多样，运动解耦，驱动独立和伴生运动小等特性的空间平动柔性机构。

关键词: 并联机构, 建模, 柔性机构, 设计, 位置空间, 优化

Abstract: It has been experiencing a rapid increase in the research on the design of spatial translational compliant parallel mechanisms, due to their various applications such as micro/nano-manipulation, energy harvesting and advanced sensors. A position-space-based design (PSBD) approach to the design of spatial translational compliant parallel mechanisms is proposed paper. The PSBD approach is mainly employed to systematically design basic, i.e., three-legged without redundant legs, spatial translational compliant parallel mechanisms. Spatial translational compliant parallel mechanisms and their general design requirements are described, and then the PSBD approach is proposed. In order to show the relevant techniques of the PSBD approach, a spatial translational compliant parallel mechanism is designed using the PSBD approach, as a design example. It can be seen that not only experts but also beginners can design a great number of decoupled spatial translational compliant parallel mechanisms with actuation isolation and small parasitic motion.

Key words: compliant mechanisms, design, modelling, optimization, parallel mechanisms, position space

中图分类号:

TG156

李海洋, 郝广波, 于靖军, 邓子龙, 宋增旺. 空间平动柔性并联机构的系统设计方法研究[J]. 机械工程学报, 2018, 54(13): 57-65.

LI Haiyang, HAO Guangbo, YU Jingjun, DENG Zilong, SONG Zengwang. Systematic Approach to the Design of Spatial Translational Compliant Parallel Mechanisms[J]. Journal of Mechanical Engineering, 2018, 54(13): 57-65.

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空间平动柔性并联机构的系统设计方法研究

Systematic Approach to the Design of Spatial Translational Compliant Parallel Mechanisms

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