组合式弱耦合并联机构综合方法研究

doi:10.3901/JME.2025.17.041

机械工程学报 ›› 2025, Vol. 61 ›› Issue (17): 41-49.doi: 10.3901/JME.2025.17.041

• 机器人及机构学 • 上一篇

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组合式弱耦合并联机构综合方法研究

李仕华^1,2, 徐宏宇^1,2, 王森^1,2, 高雪原^1,2, 韩雪艳^1,2

1. 燕山大学河北省并联机器人与机电系统重点实验室秦皇岛 066004;
2. 燕山大学机械工程学院秦皇岛 066004

收稿日期:2024-08-27 修回日期:2024-12-12 发布日期:2025-10-24
作者简介:李仕华(通信作者)，男，1966年出生，博士，教授，博士研究生导师。主要研究方向为并联机器人技术及理论。E-mail：shli@ysu.edu.cn;徐宏宇，男，1999年出生，硕士研究生。主要研究方向为并联机器人技术及理论。E-mail：x1914655897@163.com
基金资助:
国家自然科学基金(52275032)、河北省自然科学基金(E2022203077)、河北省省级科技计划(22371801D)和中央政府引导地方科技发展基金项目(246Z1818G)资助项目。

Synthesis Method of Combined Weakly-coupled Parallel Mechanisms

LI Shihua^1,2, XU Hongyu^1,2, WANG Sen^1,2, GAO Xueyuan^1,2, HAN Xueyan^1,2

1. Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004;
2. School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004

Received:2024-08-27 Revised:2024-12-12 Published:2025-10-24

摘要/Abstract

摘要： 为了综合得到具有弱耦合特性的3T3R并联机构，提出一种弱耦合并联机构综合新方法。首先，根据机构的弱耦合特性，构造功率矩阵，并推导得到空间自由度驱动力对平面运动不做功的弱耦合条件；其次，根据支链使动螺旋与驱动螺旋和非驱动螺旋的关系，得到各支链的运动副组成，并对平面和空间子并联机构分别进行综合；进一步，对所综合的子机构各支链进行改进，添加对输出运动不产生影响的运动副，使各支链能够满足最终期望的自由度要求；最后将平面子机构与空间子机构进行嵌套组合，并进行合理的支链布置，完成六自由度弱耦合并联机构型综合，得到若干种新型六自由度弱耦合并联机构。提出的综合方法可应用于其他自由度弱耦合并联机构型综合，丰富了机构构型综合理论。

关键词: 弱耦合并联机构, 构型综合, 综合方法, 螺旋理论, 新型6自由度并联机构

Abstract: In order to comprehensively obtain 3T3R parallel mechanisms with weakly-coupled characteristics, a novel synthesis method of weak coupling mergers is proposed. First of all, according to the weak coupled characteristics of the machanism, the structural power matrix, and derive the weak coupled conditions of the spatial freedom driving force on the graphic exercise without work; Secondly, according the relationship between the branches dynamic screw and the driver screw, the relationship between the branches dynamic screw and non-driving screw, the motion composition of each branch chain is obtained, the plane and the space sub -parallel mechanisms are synthesis separately; Further, optimize each branch chain of the synthesis sub-mechanisms, and add motions which does not affect the output movement, that each branch chain can meet the requirements of the final expectations; Finally, the plane mechanism and the space mechanism are combined, and a reasonable branch layout is carried out to complete the combination of six free coupling and coupling combined organization type, obtain several new types of six degrees of freedom (6-DOF) parallel mechanisms. The synthesis method proposed in this paper can be applied to other degrees of freedom for weakly coupled parallel mechanisms type synthesis, and enriches the synthesis theory of parallel mechanisms.

Key words: weekly-coupled parallel mechanisms, type synthesis, synthesis method, screw theory, novel 6-DOF parallel mechanisms

中图分类号:

TH112

李仕华, 徐宏宇, 王森, 高雪原, 韩雪艳. 组合式弱耦合并联机构综合方法研究[J]. 机械工程学报, 2025, 61(17): 41-49.

LI Shihua, XU Hongyu, WANG Sen, GAO Xueyuan, HAN Xueyan. Synthesis Method of Combined Weakly-coupled Parallel Mechanisms[J]. Journal of Mechanical Engineering, 2025, 61(17): 41-49.

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组合式弱耦合并联机构综合方法研究

Synthesis Method of Combined Weakly-coupled Parallel Mechanisms

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