• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2024, Vol. 60 ›› Issue (17): 272-282.doi: 10.3901/JME.2024.17.272

• 数字化设计与制造 • 上一篇    下一篇

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(2-UPU+SPR)+(2-UPU+RPS)非对称混联机构末端约束及自由度分析

牟德君1,2, 陈先岭1,2, 常雪龙1,2, 胡波1,2   

  1. 1. 燕山大学机械工程学院 秦皇岛 066004;
    2. 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:2023-09-18 修回日期:2024-03-01 出版日期:2024-09-05 发布日期:2024-10-21
  • 作者简介:牟德君,女,1967年出生,副教授。主要研究方向为并联机器人理论与应用。E-mail:djmu@ysu.edu.cn
    陈先岭,男,1999年出生,硕士研究生。主要研究方向为并联机器人设计和应用。E-mail:2675724864@qq.com
    常雪龙,男,2001年出生,硕士研究生。主要研究方向为并联机器人设计和应用。E-mail:1249827350@qq.com
    胡波(通信作者),男,1982年出生,教授,博士研究生导师。主要研究方向为并联机构的设计和分析理论。E-mail:hubo@ysu.edu.cn
  • 基金资助:
    国家自然科学基金面上基金(52275033)资助项目。

Analysis of Terminal Constraints and DOF of (2-UPU+SPR)+(2-UPU+RPS) Asymmetric Hybrid Manipulator

MU Dejun1,2, CHEN Xianling1,2, CHANG Xuelong1,2, HU Bo1,2   

  1. 1. School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004;
    2. Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao 066004
  • Received:2023-09-18 Revised:2024-03-01 Online:2024-09-05 Published:2024-10-21

摘要: 以往混联机构的研究未对其少自由度特性进行深度解析,针对其末端约束和自由度形态的认知尚存在不足。研究一种新型(2-UPU+SPR)+(2-UPU+RPS)机构的末端约束和自由度的求解问题,通过建立两个约束螺旋3系交集求解的解析模型求解该混联机构的末端约束。对该机构自由度组成原理进行了分析,将其末端约束求解问题转化为子机构末端约束螺旋系的交集求解问题。结合该混联机构子机构末端约束分布特点,对混联机构在不同几何条件下的末端约束和自由度性质进行了探讨。建立了2-UPU+SPR机构和2-UPU+RPS机构末端约束分布曲面和直母线的解析表达式,得到了一般和特殊位形下混联机构末端约束对应的螺旋轴线方程。给出了(2-UPU+SPR)+(2-UPU+RPS)机构的末端约束求解算例,获得了该机构在一般和特殊位形下的末端约束的空间分布情况。研究结果表明,一般位形下,(2-UPU+SPR)+(2-UPU+RPS)机构的末端约束为一个约束力螺旋;特殊位形下,机构的末端平台约束为一个纯约束力或一个约束力偶。该研究对混联机构的末端约束求解提供了借鉴,为混联机构深层次研究奠定一定基础,同时也提供了求解螺旋系交集的新思路。

关键词: 混联机构, 末端约束, 螺旋系交集, 直母线

Abstract: The previous research on hybrid mechanisms has not conducted in-depth analysis on their low degree of freedom (DOF) characteristics, and there is still insufficient understanding of their terminal constraints and DOF forms. The terminal constraints and DOF problems of a novel (2-UPU+SPR)+(2-UPU+RPS) mechanism are investigated. By establishing an analytical model for solving the intersection of two sub-constrained screw systems, the terminal constraint of this hybrid mechanism is solved. The DOF composition principle of the mechanism is analyzed, and the terminal constraint problem is transformed into the intersection of the two sub-constrained screw systems. Based on the distribution characteristics of the terminal constraints in the two sub- mechanisms, the terminal constraints and DOF properties of the hybrid mechanism under different geometric conditions are discussed. The analytical expressions for the distribution surface and straight generatrix of the terminal constraints for the sub-mechanisms are established, and the axis equations corresponding to the terminal constraints of the hybrid mechanism under general and special cases are obtained. A numerical example is given for solving the terminal constraint of the hybrid manipulator, and the intuitive distribution of the terminal constraints of the mechanism in general and special cases are given. The research results indicate that in general case, the terminal constraint of the mechanism is a constraint screw. In special case, the terminal constraint is either a pure constraint or a constraint couple. This study provides a reference for solving the terminal constraints of the hybrid manipulators, lays a certain foundation for depth study of the hybrid manipulators, and also provides a new idea for solving the intersection of screw systems.

Key words: hybrid manipulator, terminal constraint, intersection, straight generatrix

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