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  • ISSN：0577-6686
机械工程学报

机械工程学报 ›› 2017, Vol. 53 ›› Issue (5): 101-107.doi: 10.3901/JME.2017.05.101

• 机构学及机器人 • 上一篇    下一篇

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一类恒定雅可比矩阵移动并联机构的判定与综合*

赵延治1，2, 曹亚超1，2, 梁博文1，2, 赵铁石1，2   

  1. 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. 先进锻压成形技术与科学教育部重点实验室(燕山大学) 秦皇岛 066004);
  • 出版日期:2017-03-05 发布日期:2017-03-05
  • 作者简介:

    赵延治，男，1981年出生，博士，副教授。主要研究方向为并联机构学理论与应用、并联多维力传感器。

    E-mail：yzzhao@ysu.edu.cn

  • 基金资助:
    * 国家自然科学基金(51105322)、河北省自然科学基金(E2014203176)、河北省高等学校自然科学研究基金(QN2015040)和中国博士后科学基金(2016M590212)资助项目; 20160308收到初稿，20161129收到修改稿;

Determination and Synthesis of Translational Parallel Mechanism with Constant Jacobian Matrix

ZHAO Yanzhi1，2, CAO Yachao1，2, LIANG Bowen1，2, ZHAO Tieshi1，2   

  1. 1. Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System， Yanshan University， Qinhuangdao 066004；
    2. Key Laboratory of Advanced Forging & Stamping Technology and Science (Yanshan University)， Ministry of Education of China， Qinhuangdao 066004);
  • Online:2017-03-05 Published:2017-03-05

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摘要：

为得到雅可比矩阵恒定的移动并联机构，基于螺旋理论利用机构的主运动螺旋和传递力螺旋求解机构的雅可比矩阵，给出了移动并联机构在不同位置下雅可比矩阵保持恒定的判定条件。在此基础上，基于约束螺旋理论对具有该特性的分别包含三自由度、四自由度和五自由度分支的这类三自由度移动并联机构进行构型综合，构造并得到了多种雅可比矩阵恒定的移动并联机构。分析3-PPRU和3-CPU两种并联移动机构，由得到的机构在工作空间内不同位置下的输出速度、力变化曲线图可以看出在给定确定的输入情况下，机构的同一输出参数曲线在不同位置时相互重合，从而验证了该类型移动并联机构雅可比矩阵始终保持恒定。

关键词: 构型综合, 雅可比矩阵, 移动并联机构, 螺旋理论

Abstract:

To obtain the translational parallel mechanism with constant Jacobian matrix, a method solving Jacobian matrix of mechanism using main movement screw and transmission wrench screw is proposed based on screw theory. Some determination conditions in a translational parallel mechanism requires to keep its Jacobian matrix constant in different poses are presented. On this basis, a class of 3-DOF translational parallel mechanisms each limb of which has three, four and five joints with the above characteristic is synthesized based on screw theory. Many different translational parallel mechanisms with constant Jacobian matrix are obtained. By taking the 3-PPRU and 3-CPU translational parallel mechanism as examples, the Jacobian matrices of the mechanisms are analyzed. According to the former analysis, graphs of time-rate change of the output speed and force for the mechanisms in different poses are presented. It can be seen from the graphs that the curves of the same output parameters for the mechanisms will mutual coincide in different poses with the certain input parameters. Thus, the conclusion that Jacobian matrix of the class of translational parallel mechanisms keeps constant is verified.

Key words: Jacobian matrix, translational parallel mechanism, type synthesis, screw theory

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