• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2020, Vol. 56 ›› Issue (19): 92-102.doi: 10.3901/JME.2020.19.092

• 特邀专栏:纪念张启先院士诞辰95周年 • 上一篇    下一篇

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基于变胞铰链的并联机构结构设计与构型分析

贾璞1,2, 李端玲1,2, 李海源1,2, 闫晓捷3, 葛正浩3   

  1. 1. 北京邮电大学自动化学院 北京 100876;
    2. 北京市邮政智能装备工程技术研究中心 北京 100876;
    3. 陕西科技大学机电工程学院 西安 712000
  • 收稿日期:2020-06-18 修回日期:2020-08-15 出版日期:2020-10-05 发布日期:2020-11-17
  • 通讯作者: 李端玲(通信作者),女,1974年出生,博士,教授,博士研究生导师。主要研究方向为机器人学及机构学。E-mail:liduanling@163.com
  • 作者简介:贾璞,男,1990年出生,博士研究生。主要研究方向为机器人学及机构学。E-mail:290036546@qq.com
  • 基金资助:
    国家自然科学基金(51775052)、国家重点研发计划“智能机器人”重点专项(2018YFB1304602)、陕西省自然科学基础研究计划(2019JM-181)和天地互联与融合北京市重点实验室资助项目。

Structural Design and Configuration Analysis of Parallel Mechanism with Metamorphic Joint

JIA Pu1,2, LI Duanling1,2, LI Haiyuan1,2, YAN Xiaojie3, GE Zhenghao3   

  1. 1. Automation School, Beijing University of Posts and Telecommunications, Beijing 100876;
    2. Beijing Post Intelligent Equipment Engineering Technology Research Center, Beijing 100876;
    3. College of Mechanical & Electrical Engineering, Shaanxi University of Science & Technology, Xi'an 712000
  • Received:2020-06-18 Revised:2020-08-15 Online:2020-10-05 Published:2020-11-17

摘要: 为了拓展变胞机构的种类,提出了一种变胞运动单元,该变胞单元采用三个旋转关节,并且三个旋转关节可以通过位置调节形成等效球铰、虎克铰以及转动副。与传统的锁定运动副来实现变胞功能的变胞单元相比,此变胞单元三种构型的切换只需对轴线位置调整,无需额外增加关节锁死电机。通过研究由线矢量构成的螺旋系统的相关性,揭示了变胞运动单元构态变化的基本原理。提出了可用于构造新型变胞并联机构的支链构型设计方法,并基于螺旋的互易性分析了各支链构型所必须满足的几何约束条件。提出了两种变胞并联机构,通过不同的支链装配形式可将其从6自由度构型转换为3自由度构型,并对支链安装形式进行改进,构造出了具有3自由度平移模式和3自由度转动模式的并联机构。对变胞支链作为中心支链组装而成的并联机构的构型及对应的运动类型进行了分析,获得了六种不同构型的并联机构。

关键词: 变胞铰链, 变胞并联机构, 螺旋理论, 约束分析, 构型分析

Abstract: In order to expand the types of metamorphic mechanisms, a metamorphic unit is proposed. A new family of metamorphic kinematic unit composed of three rotational joints is proposed, and the equivalent spherical joint, Hooke joint and rotational joint can be formed by adjusting the position of the rotational joint. Compared with the traditional metamorphic unit which realizes the function of metamorphic by locking the effective rotational joint, the configuration of the metamorphic unit can be switched only by adjusting the axis position, and no additional locking motor is needed. By analyzing the independence of the screw system composed of line vectors, the basic principle of the metamorphic unit is revealed. A limb configuration design method which can be used to construct a new type of metamorphic parallel mechanism is proposed. Based on the reciprocity of screw, the geometric constraints of each limb configuration are analyzed. Two kinds of metamorphic parallel mechanisms are proposed, which can be transformed from 6-DOF configuration to 3-DOF configuration through different limb assembly forms. The parallel mechanism with 3-DOF translational mode and 3-DOF rotational mode is constructed by improving the installation form of limb. The configuration and corresponding motion types of the parallel mechanism assembled by metamorphic limb as central limb are analyzed, and six different configurations of parallel mechanism are obtained.

Key words: metamorphic joint, metamorphic parallel mechanism, screw theory, constraint analysis, configuration analysis

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