基于广义动平台概念的并联机构设计方法

doi:10.3901/JME.2021.01.086

机械工程学报 ›› 2021, Vol. 57 ›› Issue (1): 86-99.doi: 10.3901/JME.2021.01.086

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基于广义动平台概念的并联机构设计方法

汪从哲, 杨德伟, 张毅, 张亚南

重庆邮电大学先进制造工程学院重庆 400065

收稿日期:2019-12-30 修回日期:2020-04-20 出版日期:2021-01-05 发布日期:2021-02-06
通讯作者: 杨德伟(通信作者),男,1984年出生,博士,讲师。主要研究方向为机器人与智能控制算法。E-mail:dwyanghi@163.com
作者简介:汪从哲,男,1985年出生,博士,讲师。主要研究方向为并联机构和康复机器人。E-mail:wangcz@cqupt.edu.cn;张毅,男,1966年出生,博士,教授,博士研究生导师。主要研究方向为智能系统及机器人。E-mail:zhangyi@cqupt.edu.cn;张亚南,男,1995年出生,硕士研究生。主要研究方向为智能系统及机器人。E-mail:453611734@qq.com
基金资助:
国家自然科学基金（52005070）、重庆市教委科学技术研究（KJQN201900640，KJ1704100）和重庆市基础科学与前沿技术研究（cstc2017jcyjAX0396）资助项目。

Design Methodology of Parallel Mechanisms Based on the Concept of Generalized Moving Platform

WANG Congzhe, YANG Dewei, ZHANG Yi, ZHANG Yanan

School of Advanced Manufacturing Engineering, Chongqing University of Posts and Telecommunications, Chongqing 400065

Received:2019-12-30 Revised:2020-04-20 Online:2021-01-05 Published:2021-02-06

摘要/Abstract

摘要： 通过分析运动平台的本质属性，提出广义动平台的概念。所提出的广义动平台包含输入平台、输出平台两种基本单元。借助输入平台和输出平台的运动关系，可以将传统刚体、铰接、缩放等形式的动平台有机地统一到广义动平台的概念当中。以此为基础，分析广义动平台和支链两个层级的各个组成要素以及典型的拓扑布局形式。基于位移子群/子流形的基本理论，研究各个拓扑布局所对应的运动集合关系，并提出一种基于广义动平台和支链两个层级的构型综合方法。一方面，以提出的一种广义动平台为研究对象，根据所提出的构型综合方法，综合设计分别具有1R、2R与3R转动自由度的并联机构。另一方面，探讨如何以经典的并联机构为广义动平台，综合一类3R3T、2R3T并联机构。通过这两个方面的具体实施案例，验证了广义动平台和支链两个层级划分的有效性和必要性。

关键词: 并联机构, 广义动平台, 拓扑布局, 构型综合, 李群理论

Abstract: By means of analyzing the intrinsic attribute of moving platforms, the concept of generalized moving platform (GMP) is proposed. The proposed GMP contains two essential elements of input and output. According to the moving relation between the input and output elements, the traditional rigid platforms, articulated platforms and configurable platforms can be integrated into the concept of GMP. Based on these concepts, each element of GMP and links and the representative topology layouts are analyzed. In the light of the displacement sub-group/sub-manifold theory, the moving relations corresponding to each topology graph are researched, and one methodology of structural synthesis is established based on the two layers of GMP and links. On the one hand, according to the proposed methodology, parallel mechanisms (PM) with 1R, 2R and 3R rotational freedoms are synthesized based on the proposed GMP. On the other hand, how to synthesis a class of 3R3T and 2R3T PMs based on CMPs of typical PMs is addressed in brief. The results of the two classes of examples prove the effectiveness and necessity of the proposed two layers of GMP and links.

Key words: parallel mechanism, generalized moving platform, topology layout, structural synthesis, Li group theory

中图分类号:

TH112

汪从哲, 杨德伟, 张毅, 张亚南. 基于广义动平台概念的并联机构设计方法[J]. 机械工程学报, 2021, 57(1): 86-99.

WANG Congzhe, YANG Dewei, ZHANG Yi, ZHANG Yanan. Design Methodology of Parallel Mechanisms Based on the Concept of Generalized Moving Platform[J]. Journal of Mechanical Engineering, 2021, 57(1): 86-99.

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基于广义动平台概念的并联机构设计方法

Design Methodology of Parallel Mechanisms Based on the Concept of Generalized Moving Platform

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