基于最小子运动链的具有符号式位置正解且运动解耦并联机构的拓扑设计方法

doi:10.3901/JME.2025.23.041

摘要/Abstract

摘要： 设计出具有符号式位置正解且运动解耦的并联机构，对其后续的尺度综合、误差分析、运动轨迹规划与实时控制、动平衡和动力学分析等十分有利。提出以自由度和方位特征(DOF、POC)为导向、以具有符号式位置正解(SFP)且运动解耦(MD)为性能指标的并联机构拓扑结构设计(型综合)方法。首先，提出将10种实用简单的低耦合度(k=0、1)的最小子运动链(SKC_min)(其中，4种为新设计)作为并联机构的组成单元。其次，提出基于SKC_min的两种机构设计方法：第一种，当基本功能(DOF、POC)已知时，先设计出1条包含SKC_min(其子自由度为DOF₀)且末端方位特征为POC的混合支链，再和(DOF-DOF₀)条无约束支链构成并联机构；第2种，先设计出包含SKC_min的混合支链和其他约束支链，再组合装配出众多并联机构类型，并由拓扑分析得到机构的DOF、POC，并归类使用。最后，举例说明应用这两种方法设计少自由度aTbR (a, b<6)一般过约束并联机构的过程，并对其中部分机构的主要拓扑特性进行分析、验证。

关键词: 并联机构, 符号式位置正解, 运动解耦, 最小子运动链, 拓扑设计

Abstract: The parallel mechanisms (PMs) with symbolic forward position solutions and motion decoupling characteristic are very beneficial to the subsequent dimension synthesis, error analysis, motion trajectory planning and real-time control, dynamic balance and dynamic analysis. A topological structure design (type synthesis) method for PM is proposed that degree of freedom (DOF) and position and orientation characteristics (POC) are guided, and symbolic forward position solutions (SFP) and motion decoupling (MD) as the performance indexes. First of all, 10 practical and simple low coupling degree (k=0, 1) minimum sub-kinematic-chains (SKC_min) (among which, 4 SKC_min are the new design) are proposed as the composition units of PMs. Secondly, two methods of PM design based on SKC_min are proposed. The first method, i.e, when the basic functions (DOF and POC) are known, a hybrid branch consisting of SKC_min with sub-DOF (DOF₀) and the terminal POC is designed, and then a PM consisting of the hybrid branch and (DOF-DOF₀) unconstraint branches is designed. The second method, i.e, when the basic functions (DOF and POC) are unknown, hybrid branches consisting of SKC_min and other constraint branches are first designed, then assembling them to form various types of PMs. Through topological analysis, the DOF and POC of these PMs are determined and categorized for application. Finally, the application of these two methods is illustrated by designing generally over-constrained PMs with limited-DOF. Additionally, the main topological characteristics of some of these PMs are analyzed and verified.

Key words: parallel mechanism, symbolic forward position solution, motion decoupling, minimum sub-kinematic-chain, topology design

中图分类号:

TH112

李菊, 佘俊杰, 沈惠平, 曾博雄, 杨廷力. 基于最小子运动链的具有符号式位置正解且运动解耦并联机构的拓扑设计方法[J]. 机械工程学报, 2025, 61(23): 41-57.

LI Ju, SHE Junjie, SHEN Huiping, ZENG Boxiong, YANG Tingli. Topology Design Method for Parallel Mechanisms with Symbolic Forward Position Solution and Motion Decoupling Based on the Minimum Sub-kinematic-chain[J]. Journal of Mechanical Engineering, 2025, 61(23): 41-57.

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