基于空间几何的无伴随运动并联机构分析与综合

doi:10.3901/JME.2021.01.077

机械工程学报 ›› 2021, Vol. 57 ›› Issue (1): 77-85.doi: 10.3901/JME.2021.01.077

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基于空间几何的无伴随运动并联机构分析与综合

陈淼, 张氢, 陈文韬, 秦仙蓉, 孙远韬

同济大学机械与能源工程学院上海 201804

收稿日期:2019-12-16 修回日期:2020-04-16 出版日期:2021-01-05 发布日期:2021-02-06
通讯作者: 张氢(通信作者),男,1967年出生,博士,教授,博士研究生导师。主要研究方向为重载机械装备、机械动态设计与智能优化设计、大型工程结构与设备研究开发与监控技术。E-mail:zhqing_tj@126.com
作者简介:陈淼,男,1993年出生,博士研究生。主要研究方向为并联机器人及动力学。E-mail:chenmiao2015@tongji.edu.cn
基金资助:
上海市科委科技创新行动计划资助项目（19DZ1100202）。

Analysis and Type Synthesis of Parallel Mechanisms without Parasitic Motion based on Spatial Geometry

CHEN Miao, ZHANG Qing, CHEN Wentao, QIN Xianrong, SUN Yuantao

School of Mechanical and Energy Engineering, Tongji University, Shanghai 201804

Received:2019-12-16 Revised:2020-04-16 Online:2021-01-05 Published:2021-02-06

摘要/Abstract

摘要： 一移动两转动（1T2R）三自由度并联机构普遍存在的伴随运动对机构的运动精度及性能有不利影响，为得到一系列1T2R无伴随运动的并联机构，利用空间几何理论及螺旋理论对无伴随运动并联机构进行分析与综合。基于空间几何理论分析了无伴随运动并联机构的转轴条件，结合螺旋理论分析了该类机构动平台平面与约束螺旋的空间位置关系，将至少拥有1T2R自由度的支链分成4类，分析[R]-型支链在不同支链布局下的约束螺旋位置及转轴位置对伴随运动的影响，从而给出了1T2R无伴随运动并联机构的构型准则及结构条件，并通过构型综合得到了105种无伴随运动并联机构。对一种新型2RPU-RPRU无伴随运动并联机构进行了运动学分析，验证了该方法的正确性。

关键词: 伴随运动, 1T2R并联机构, 螺旋理论, 结构条件

Abstract: Parasitic motion widely exists in general 1T2R (one translation and two rotations) parallel mechanism, which has a negative influence on motion accuracy and performances of mechanism. To obtain a series of 1T2R parallel mechanisms without parasitic motion, the analysis and type synthesis of parallel mechanisms are conducted based on spatial geometry and screw theory. The condition of rotational axes of parallel mechanism without parasitic motion is analyzed based on spatial geometry theory, then the spatial position relationship between the plane of moving platform and constraint wrenches is explored with screw theory. Branch chains with at least 1T2R degrees of freedom are divided into four types, and positions of constraint wrenches and rotational axes which cause parasitic motions directly are discussed with different [R]-branch chain layouts. The synthesis criteria and geometrical conditions of 1T2R parallel mechanism without parasitic motion are deduced, and 105 kinds of mechanism without parasitic motion are obtained through type synthesis. The kinematics of a new 2RPU-RPRU parallel mechanism without parasitic motion is analyzed to verify the correctness of the method.

Key words: parasitic motion, 1T2R parallel mechanism, screw theory, geometrical conditions

中图分类号:

TH112

陈淼, 张氢, 陈文韬, 秦仙蓉, 孙远韬. 基于空间几何的无伴随运动并联机构分析与综合[J]. 机械工程学报, 2021, 57(1): 77-85.

CHEN Miao, ZHANG Qing, CHEN Wentao, QIN Xianrong, SUN Yuantao. Analysis and Type Synthesis of Parallel Mechanisms without Parasitic Motion based on Spatial Geometry[J]. Journal of Mechanical Engineering, 2021, 57(1): 77-85.

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基于空间几何的无伴随运动并联机构分析与综合

Analysis and Type Synthesis of Parallel Mechanisms without Parasitic Motion based on Spatial Geometry

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