• CN:11-2187/TH
  • ISSN:0577-6686

›› 2005, Vol. 41 ›› Issue (8): 36-41.

• 论文 • 上一篇    下一篇

可重构PKM模块的选型原则——理论与实践

黄田;李曚;吴孟丽;梅江平;赵学满;Hu S. Jack   

  1. 天津大学机械工程学院;密歇根大学机械工程系
  • 发布日期:2005-08-15

CRITERIA FOR CONCEPTUAL DESIGN OF RECONFIGURABLE PKM MODULES ––––THEORY AND APPLICATION

Huang Tian;Li Meng;Wu Mengli;Mei Jiangping;Zhao Xueman;Hu S. Jack   

  1. School of Mechanical Engineering, Tianjin University Department of Mechanical Engineering, The University of Michigan
  • Published:2005-08-15

摘要: 可重构与多功能是并联构型装备(PKM)的重要发展趋势,模块化设计是实现这类装备可重构性的使能技术。首先借助线性空间理论,简要论述了少自由度并联机构的组成原理。按照支链对动平台提供约束和驱动的作用不同,将支链分为四种类型,并据此得到少自由度并联机构的三种组合方案。基于对可重构性、多功能,以及速度、刚度特别是精度的考虑,提出可重构PKM模块的选型原则,认为含简式恰约束支链的并联机构较适于搭建兼顾上述需求的PKM模块,进而将可重构PKM模块的设计转化为恰约束支链的选型问题。在此基础上,提出一种含主动恰约束支链的5自由度混联机械手模块——TriVariant,其具有与Tricept机械手完全相同的自由度数目和类型,且几乎继承了后者的全部优点。最后给出若干用TriVariant搭建可重构装备的应用示例。

关键词: 并联机构, 可重构装备, 模块化设计

Abstract: One of the major tendencies towards the devel- opment of parallel kinematic machines (PKM) is to make full use of its reconfigurability and multiple-functionality. Modul- arity is the key enabling technology of reconfigurability. A set of criteria for the conceptual design of reconfigurable PKM modules is presented. The composition principle of sub-6-DOF parallel mechanisms is revisited using the theory of linear algebra, resulting in three classes of parallel mechanisms which can be generated by four types of limbs in terms of actuation and constraints. Considering the performances in terms of reconfigurability, speed, rigidity and accuracy, it concludes that the parallel mechanisms with simple proper-constraint limb whose degrees of freedom and type are exactly the same as those of the mobile platform would be the most suitable candidates. Consequently, a novel 5-DOF hybrid PKM module named TriVariant is proposed and its reconfigurability is demonstrated via a few examples for potential applications.

Key words: Modular design, Parallel kinematic machines, Reconfigurability

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