基于李群理论的具有可动远心点并联机构型综合

doi:10.3901/JME.260690

机械工程学报 ›› 2026, Vol. 62 ›› Issue (13): 87-98.doi: 10.3901/JME.260690

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基于李群理论的具有可动远心点并联机构型综合

曹毅^1,2, 吕贤海^1,2, 王凯^1,2, 叶凡^1,2

1. 江南大学机械工程学院无锡 214122;
2. 江苏省食品先进制造装备技术重点实验室无锡 214122

收稿日期:2025-05-16 修回日期:2025-11-24 发布日期:2026-08-28
作者简介:曹毅，男，1974年出生，教授。主要研究方向为并联机构、机器人。E-mail：caoyi@jiangnan.edu.cn
基金资助:
国家自然科学基金(52175234)和高等学校学科创新引智计划(B18027)资助项目。

Type Synthesis of Parallel Mechanisms with Movable RCM Based on Lie Group Theory

CAO Yi^1,2, LÜ Xianhai^1,2, WANG Kai^1,2, YE Fan^1,2

1. School of Mechanical Engineering, Jiangnan University, Wuxi 214122;
2. Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment and Technology, Wuxi 214122

Received:2025-05-16 Revised:2025-11-24 Published:2026-08-28

摘要/Abstract

摘要： 提出一类基于双平行四边形等效机构3-^uvU^uvU设计的具有可动远心点的并联机构，基于李群理论完成了该类机构的构型综合。首先阐述了李群理论的基本原理及其运算规则，并分析了双平行四边形远心机构的输出运动特征；然后根据远心点调整需求综合了可重构平台构型，将可重构平台与双平行四边形的等效并联机构3-^uvU^uvU相结合，设计了具有可动远心点的3-^uvU^uvU机构，并对其运动进行了验证及分析；进一步的，基于李群理论综合了3-^uvU^uvU的等效并联机构，根据所提出方法设计了一类具有可动远心点的并联机构，选取其中机构验证了运动模式，分析了其运动特性，证明了设计方法的有效性和机构的正确性，为该类机构的应用奠定了理论基础。

关键词: 并联机构, 李群理论, 型综合, 可动远心点

Abstract: A class of parallel mechanisms (PMs) with movable RCM based on the 3-^uvU^uvU is proposed, and type synthesis of such mechanisms is accomplished through Lie group theory. First, principles and operational rules of Lie group theory are elucidated, followed by analysis of the motion characteristics of double-parallelogram mechanism. Subsequently, reconfigurable platform are synthesized according to RCM adjustment requirements. By integrating the reconfigurable platform with the 3-^uvU^uvU, a novel 3-^uvU^uvU featuring movable RCM is designed, whose kinematic performance is validated and analyzed. Furthermore, equivalent PMs of 3-^uvU^uvU are synthesized based on Lie group theory, enabling the design of a family of PMs with movable RCM. Selected mechanisms from this family undergo motion pattern verification and kinematic characteristic analysis, demonstrating the effectiveness of the proposed methodology and the validity of the mechanisms. Theoretical foundations for practical applications of such mechanisms are established

Key words: parallel mechanisms, Lie group theory, type synthesis, movable RCM

中图分类号:

TG156

曹毅, 吕贤海, 王凯, 叶凡. 基于李群理论的具有可动远心点并联机构型综合[J]. 机械工程学报, 2026, 62(13): 87-98.

CAO Yi, LÜ Xianhai, WANG Kai, YE Fan. Type Synthesis of Parallel Mechanisms with Movable RCM Based on Lie Group Theory[J]. Journal of Mechanical Engineering, 2026, 62(13): 87-98.

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基于李群理论的具有可动远心点并联机构型综合

Type Synthesis of Parallel Mechanisms with Movable RCM Based on Lie Group Theory

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