• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2017, Vol. 53 ›› Issue (23): 74-82.doi: 10.3901/JME.2017.23.074

• 机构学及机器人 • 上一篇    下一篇

具有连续转轴的对称2R1T三自由度并联机构型综合

李仕华, 田志立, 王子义, 韩雪艳   

  1. 燕山大学河北省并联机器人与机电系统实验室 秦皇岛 066004
  • 收稿日期:2017-04-22 修回日期:2017-10-01 出版日期:2017-12-05 发布日期:2017-12-05
  • 通讯作者: 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理论与应用,微操作与微机电系统,空间机构非线性动力学与精度等方向。E-mail:shli@ysu.edu.cn
  • 作者简介:田志立,男,1989年出生,硕士。主要研究方向为并联机构型综合。E-mail:1270119517@qq.com;王子义,男,1992年出生,硕士研究生。主要研究方向空间并联机器人构型综合。E-mail:ziyiwangysu@sina.com;韩雪艳,男,1978年出生,博士研究生,高级实验师。主要研究方向为并联机器人理论与应用。E-mail:hanxueyan@ysu.edu.cn。
  • 基金资助:
    教育部高等学校博士学科点专项科研基金(20131333110008)和河北省自然科学基金重点(E2016203463)资助项目。

Type Synthesis of 2R1T Symmetrical Parallel Mechanism with Continuous Rotation Axes

LI Shihua, TIAN Zhili, WANG Ziyi, HAN Xueyan   

  1. Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao 066004
  • Received:2017-04-22 Revised:2017-10-01 Online:2017-12-05 Published:2017-12-05

摘要: 为综合出更多具有连续转轴的并联机构新机型,提出一种具有连续转轴的两转一移(2R1T)并联机构型综合新方法。运用螺旋理论,给出该类机构约束螺旋的空间布置,提出并联机构连续转轴的判别条件,确定分支运动副类型及空间位置关系。基于分支约束力与分支运动副之间的几何位置关系,证明了该类机构能够实现连续转动。利用该方法对具有平面上任意直线为连续转轴的对称两转一移并联机构进行综合,并仿真验证了研究结果的正确性。该综合方法简单、有效。

关键词: 并联机构, 连续转动, 连续转轴, 两转一移

Abstract: To get more parallel mechanisms with continuous rotation axes (CRAs), a new synthesis method which could synthesize 2 rotations and 1 translation (2R1T) parallel mechanisms with continuous rotation axes lying on a plane is proposed. Based on screw theory, the space distribution of the constraint forces of this kind of parallel mechanism (PM) is given out. The discriminative conditions of continuous rotation axe are proposed, and the types of kinematic pairs of the branch and their spatial positions are specified. Based on the geometrical relation of the kinematic pairs of the branch and the constraint force of the branch, the principle of the moving platform's continuous rotation is explained. Using the proposed method, the symmetrical 2R1T parallel mechanisms with any line on a plane as CRA are synthesized systematically. The case analysis of the synthesized mechanism is carried out, which verified the correctness of the synthesized mechanisms. The synthesis method is simple and effective.

Key words: 2 rotations and 1 translation, continuous rotation, continuous rotation axis, parallel mechanism

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