一种无伴随运动的对称两转一移并联机构

doi:10.3901/JME.2016.03.009

机械工程学报 ›› 2016, Vol. 52 ›› Issue (3): 9-17.doi: 10.3901/JME.2016.03.009

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一种无伴随运动的对称两转一移并联机构

陈子明^1,2, 张扬^1,2, 黄坤^1,2, 黄真^{1,^1,22}

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；
2. 燕山大学机械工程学院秦皇岛 066004

收稿日期:2015-01-20 修回日期:2015-09-02 出版日期:2016-02-05 发布日期:2016-02-05
通讯作者: 陈子明，男，1984年出生，博士，讲师。主要研究方向为少自由度并联机构的设计和分析理论。 E-mail：chenzm@ysu.edu.cn
基金资助:
国家自然科学基金(51305381)和高等学校博士学科点专项科研基金联合资助课题新教师类(20131333120006)资助项目

Symmetrical 2R1T Parallel Mechanism without Parasitic Motion

CHEN Ziming^1,2, ZHANG Yang^1,2, HUANG Kun^1,2, HUANG Zhen^1,2

1. Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao 066004；
2. School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004

Received:2015-01-20 Revised:2015-09-02 Online:2016-02-05 Published:2016-02-05

摘要/Abstract

摘要： 提出一种新型3-UPU对称并联机构，其动、定平台始终关于中间平面对称，该机构具有两个转动自由度和一个移动自由度。运用螺旋理论对机构的自由度性质及运动特性进行分析，证明该机构动平台可以绕对称平面内的任意一条轴线或任意点发生连续转动，说明该机构不存在“伴随运动”，这为机构的求解及控制提供了很大的便利。同时，该机构还具有一个沿对称面法线方向的移动自由度，动平台沿该自由度方向也可以发生连续的移动。针对此机构的结构特点，用两个角度参数就可以方便、直观地表示出动平台的姿态信息。推导该并联机构的位置正、反解，并分析其工作空间，可以看出该机构的正反解都具有解析解，且表达式较为简单，方便后续的深入研究。该机构具有较大的工作空间，能够满足一般的工作需要。

关键词: 3自由度, 伴随运动, 对称并联机构, 两转一移, 转动空间

Abstract: A novel 3-UPU symmetrical parallel mechanisms is proposed, whose base and moving platform are always symmetrical about a middle plane. It has two rotational and one translational (2R1T) degrees of freedom (DOFs). The mobility and motion characteristics of this mechanism are studied by using the screw theory. And it has been approved that the moving platform can rotate continuously about a fixed axis or fixed point, which can be chosen freely on the middle plane. Therefore this mechanism has no parasitic motion, which will bring much convenience to the kinematics analysis and controlling. Meanwhile, it also has a translational DOF along the normal of the middle plane, and the moving platform can realize continuous translation along this direction. Based on the structure characteristics of this mechanism, the orientation of moving platform can be represented by two angle parameters, which is very convenient and visual. The forward and inverse solutions are derived and the analytical solutions are obtained which is very simple and make it easy for further study. The workspace is analyzed, which is large enough for ordinary requirement.

Key words: 2R1T, 3-DOFs, orientation workspace, parasitic motion, symmetrical parallel mechanism

中图分类号:

TP242

陈子明, 张扬, 黄坤, 黄真. 一种无伴随运动的对称两转一移并联机构[J]. 机械工程学报, 2016, 52(3): 9-17.

CHEN Ziming, ZHANG Yang, HUANG Kun, HUANG Zhen. Symmetrical 2R1T Parallel Mechanism without Parasitic Motion[J]. Journal of Mechanical Engineering, 2016, 52(3): 9-17.

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一种无伴随运动的对称两转一移并联机构

Symmetrical 2R1T Parallel Mechanism without Parasitic Motion

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