具有2R1T和3R运动模式的并联机构综合

doi:10.3901/JME.2019.03.053

机械工程学报 ›› 2019, Vol. 55 ›› Issue (3): 53-63.doi: 10.3901/JME.2019.03.053

具有2R1T和3R运动模式的并联机构综合

刘伟^1,2, 刘宏昭¹

1. 西安理工大学机械与精密仪器工程学院西安 710048;
2. 西安工程大学机电工程学院西安 710048

收稿日期:2018-04-20 修回日期:2018-07-23 出版日期:2019-02-05 发布日期:2019-02-05
通讯作者: 刘宏昭(通信作者),男,1954年出生,博士,教授,博士研究生导师。主要研究方向为机构学、机械动力学。E-mail:liu-hongzhao@163.com
作者简介:刘伟,男,1985年出生,博士研究生。主要研究方向为机构设计。E-mial:liuweilw@xpu.edu.cn
基金资助:
国家自然科学基金资助项目（51275404）。

Type Synthesis of 3-DOF Parallel Mechanism with both 2R1T and 3R Motion Mode

LIU Wei^1,2, LIU Hongzhao¹

1. Faculty of Mechanical and Precision Instrument Engineering, Xi'an University of Technology, Xi'an 710048;
2. College of Mechanical and Electrical Engineering, Xi'an Polytechnic University, Xi'an 710048

Received:2018-04-20 Revised:2018-07-23 Online:2019-02-05 Published:2019-02-05

摘要/Abstract

摘要： 使用位移流形理论综合了具有2R1T与3R两种运动模式的并联机构。选取了一种具有此类运动模式变换的机构，分析了其自由度变换时的位形特征，使用螺旋理论分析了其在不同运动模式下的自由度特征，分析了支链驱动副选取的可行性。结果表明，这种并联机构具有2R1T与3R两种运动模式。这种机构在两种运动模式的一般位形下，使用2个移动驱动副和1个转动驱动副实现对机构的控制。这种机构在两种运动模式的变换位形下，机构处于奇异位形，机构的自由度增加为4。支链2中配置1个辅助移动驱动副，支链2中的转动驱动副和辅助移动驱动副在机构运动模式变换时工作，实现并联机构在2R1T与3R两种运动模式之间变换。

关键词: 2R1T, 3R, 并联机构, 运动模式

Abstract: The parallel mechanisms with both 2R1T and 3R motion mode are synthesized using the theory of displacement manifold. The characteristic of a typical variable freedom kinematic chain is analyzed. A mechanism having both 2R1T and 3R motion modes is given for an example. The freedom of the mechanism in different motion mode is verified and the transform configuration of the mechanism between different motion modes is verified feasible using screw theory. The results show that the parallel mechanism has two modes:2R1T and 3R. At the general configuration of the two motion modes of the mechanism, this type of mechanism can be controlled by using 2 translational active joints and 1 rotary active joint. The degree of freedom of the mechanism is 4 and the mechanism is in singular configuration when the motion mode of the mechanism transforms. A auxiliary translational active joint is added in the branch 2, which works only when the mechanism motion mode is transformed.

Key words: 2R1T, 3R, motion mode, parallel mechanism

中图分类号:

TH112

刘伟, 刘宏昭. 具有2R1T和3R运动模式的并联机构综合[J]. 机械工程学报, 2019, 55(3): 53-63.

LIU Wei, LIU Hongzhao. Type Synthesis of 3-DOF Parallel Mechanism with both 2R1T and 3R Motion Mode[J]. Journal of Mechanical Engineering, 2019, 55(3): 53-63.

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具有2R1T和3R运动模式的并联机构综合

Type Synthesis of 3-DOF Parallel Mechanism with both 2R1T and 3R Motion Mode

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