一种零耦合度且运动解耦的新型3T1R并联操作手2-(RPa3R)3R的设计及其运动学

doi:10.3901/JME.2019.05.053

摘要/Abstract

摘要： 零耦合度（κ=0）及输入-输出运动解耦的三平移一转动（3T1R）并联机构，不仅运动学、动力学分析简单，而且运动控制与轨迹规划容易，因而在制造业中具有潜在的运用前景。根据基于方位特征（POC）方程的并联机构拓扑结构设计理论和方法，设计出一种零耦合度且部分运动解耦的新型3T1R并联操作手2-（RPa3R）3R，并对之进行拓扑特性分析，给出了其方位特征POC、自由度DOF、耦合度κ等主要拓扑特征；基于序单开链（SOC）的运动学建模原理，给出了该机构位置正解求解的封闭形代数方程，并求得其数值解；基于导出的机构位置反解公式，分析了机构产生三种奇异的几何条件；同时，求解了机构的工作空间和转动能力；给出了该操作手机械结构设计的三维CAD模型。研究成果为该操作手的运动尺寸优化、样机研发以及动力学研究奠定了理论基础。

关键词: 3T1R, 并联机构, 工作空间, 耦合度, 奇异性, 运动解耦, 转动能力

Abstract: A parallel manipulator (PM) with three-translation and one-rotation (3T1R) output, possessing zero coupling degree and partial input-output motion decoupling (I-O decoupling), can not only make the analyses of kinematics and dynamics simple, but also simplify the motion control and path planning. These PMs have potential applications in the manufacturing. A new 3T1R PM with zero coupling degree and partial motion-decoupling is designed, i.e., 2-(RPa3R)3R, according to the design theory for parallel mechanism topology based on position and orientation characteristics (POC) equation. The key topological properties such as POC, degrees of freedom DOF, coupling degree κ are analyzed. The closed-form direct position algebraic equations of the PM are derived by using the modeling principle based on the ordered single-open-chain(SOC) proposed in an earlier work, and the solutions for direct position of this PM are solved. In addition, the geometrical conditions of three types of singularity are analyzed based on the inverse kinematics derived, and the workspace, rotation ability and singularity of this PM are also derived. The CAD model of mechanical design for the prototype of the PM are finished. All of this work lays the foundation for dimension optimization, prototype design and dynamics research of the new PM.

Key words: 3T1R, coupling degree, motion decoupling, parallel mechanism, rotation ability, singularity, workspace

中图分类号:

TH112

沈惠平, 许可, 杨廷力, 邓嘉鸣. 一种零耦合度且运动解耦的新型3T1R并联操作手2-(RPa3R)3R的设计及其运动学[J]. 机械工程学报, 2019, 55(5): 53-64.

SHEN Huiping, XU Ke, YANG Tingli, DENG Jiaming. New 3T1R Parallel Manipulator 2-(RPa3R)3R with Zero Coupling Degree and Partial Decoupling: Design and Kinematics[J]. Journal of Mechanical Engineering, 2019, 55(5): 53-64.

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