基于图谱法的3平移并联机构型综合

doi:10.3901/JME.2021.23.034

机械工程学报 ›› 2021, Vol. 57 ›› Issue (23): 34-46.doi: 10.3901/JME.2021.23.034

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基于图谱法的3平移并联机构型综合

李永泉^1,2, 江洪生^1,2, 郑天宇^1,2, 景涵^1,2, 张立杰^2,3

1. 燕山大学河北省并联机构与机电系统实验室秦皇岛 066004;
2. 燕山大学先进锻压成形技术与科学教育部重点实验室秦皇岛 066004;
3. 燕山大学河北省重型机械流体动力传输与控制实验室秦皇岛 066004

收稿日期:2021-06-01 修回日期:2021-10-11 出版日期:2021-12-05 发布日期:2022-02-28
通讯作者: 张立杰(通信作者),男,1969年出生,博士,教授,博士研究生导师。主要研究方向为并联机构及机构技术、液压系统集成及控制技术。E-mail:ljzhang@ysu.edu.cn
作者简介:李永泉,男,1979年出生,副教授,硕士研究生导师。主要研究方向为并联机构及机构技术。E-mail:lijiang197879@sina.com;江洪生,男,1996年出生,硕士研究生。主要研究方向为并联机构型综合。E-mail:jianghongsheng@stumail.ysu.edu.cn;郑天宇,男,1996年出生,硕士研究生。主要研究方向为并联机构型综合。E-mail:396608370@qq.com;景涵,男,1996年出生,硕士研究生。主要研究方向为机器视觉。E-mail:1650406391@qq.com
基金资助:
国家自然科学基金（51875499）资助项目。

Type Synthesis of 3-translation Parallel Mechanism Based on Graphical Approach

LI Yongquan^1,2, JIANG Hongsheng^1,2, ZHENG Tianyu^1,2, JING Han^1,2, ZHANG Lijie^2,3

1. Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004;
2. Key Laboratory of Advanced Forging & Stamping Technology and Science(Yanshan University), Ministry of Education of China, Qinhuangdao 066004;
3. Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Yanshan University, Qinhuangdao 066004

Received:2021-06-01 Revised:2021-10-11 Online:2021-12-05 Published:2022-02-28

摘要/Abstract

摘要： 三平移并联机构在工业制造、医疗、军工等领域有着广泛的应用，随着物流行业的快速发展，急需一种具有刚度高，控制简单，后期维护成本低等优点的三平移并联机构用于代替人力进行货物分拣。为此提出了一种以图谱法为基础的3平移并联机构型综合方法，运用图谱法中的线图等效原则，拓展出大量的分支等效自由度线图，为分支创新构型提供了基础。根据支链数量和支链所包含的约束数量，将分支选取方案分为7种，前四种方案能够综合出超过1 041³种分支数为3的新型3移动并联机构，后三种方案能够综合出超过1 041²种分支数为4的新型3移动并联机构。选取方案1、方案5、方案6作为例子综合了四个新型3移动并联机构，再对其中两个新机构用修正的K-G公式计算自由度并用螺旋理论验证自由度性质，验证了该新方法的正确性。该新方法综合出大量新机构，且这类新机构包含解耦或半解耦机构，计算和控制简单，具有重要的应用前景。

关键词: 图谱法, 3平移, 并联机构, 型综合

Abstract: The 3T(3-translation) parallel mechanism has been widely used in the fields of industrial manufacturing, medical treatment and military industry. With the development of the logistics industry, a 3T parallel mechanism with high stiffness, simple control and low maintenance cost is urgently needed to replace manpower for cargo sorting. Therefore, a 3T parallel mechanism type synthesis method based on the graphical approach is proposed. A large number of equivalent DOF pattern of branches are developed by using the graph equivalence principle in the graphical approach, which provided a foundation for innovative configuration of branches. A large number of new branch chains is also provided a variety of possibilities for subsequent assembly of parallel mechanisms. According to the number of branch chains and the number of constraints contained in the branch chains, the branch selection schemes are divided into seven types. The first four schemes are able to synthesise more than 1 041³ novel 3T parallel mechanisms with a branch number of 3, and the last three schemes are able to synthesise more than 1 041² novel 3T parallel mechanisms with a branch number of 4. Scheme 1, Scheme 5 and Scheme 6 are selected as examples to integrate four new 3T parallel mechanisms, and then K-G formula is used to calculate the DOF and screw theory is used to verify the kinematic characteristics, which verifies the correctness of this new method. The new method synthesizes a large number of new mechanisms, which include decoupled or semi-decoupled mechanisms and are easy to calculate and control, so it has an important application prospect.

Key words: graphical approach, 3-translation, parallel mechanism, type synthesis

中图分类号:

TH112

李永泉, 江洪生, 郑天宇, 景涵, 张立杰. 基于图谱法的3平移并联机构型综合[J]. 机械工程学报, 2021, 57(23): 34-46.

LI Yongquan, JIANG Hongsheng, ZHENG Tianyu, JING Han, ZHANG Lijie. Type Synthesis of 3-translation Parallel Mechanism Based on Graphical Approach[J]. Journal of Mechanical Engineering, 2021, 57(23): 34-46.

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基于图谱法的3平移并联机构型综合

Type Synthesis of 3-translation Parallel Mechanism Based on Graphical Approach

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