无耦合二自由度转动并联机构型综合方法研究

doi:10.3901/JME.2018.15.021

机械工程学报 ›› 2018, Vol. 54 ›› Issue (15): 21-30.doi: 10.3901/JME.2018.15.021

无耦合二自由度转动并联机构型综合方法研究

张彦斌^1,2, 荆献领¹, 韩建海¹, 郭冰菁¹, 赵浥夫¹

1. 河南科技大学机电工程学院洛阳 471003;
2. 机械装备先进制造河南省协同创新中心洛阳 471003

收稿日期:2017-08-17 修回日期:2018-01-30 出版日期:2018-08-05 发布日期:2018-08-05
通讯作者: 张彦斌(通信作者),男,1974年出生,博士,教授,博士研究生导师。主要研究方向为机构学与并联机器人理论。E-mail:yanbin_zh@163.com
作者简介:荆献领,男,1993年出生,硕士研究生。主要研究方向为并联机器人理论。E-mail:jxl2048@163.com
基金资助:
国家自然科学基金（50905055）、河南省高等学校重点科研基础研究计划（18A460001）和河南科技大学重大科技培育基金（2015XTD012）资助项目。

Type Synthesis of Uncoupled Rotational Parallel Mechanisms with Two Degrees of Freedom

ZHANG Yanbin^1,2, JING Xianling¹, HAN Jianhai¹, GUO Bingjing¹, ZHAO Yifu¹

1. School of Mechatronics Engineering, Henan University of Science and Technology, Luoyang 471003;
2. Center of Machinery Equipment Advanced Manufacturing of Henan Province, Luoyang 471003

Received:2017-08-17 Revised:2018-01-30 Online:2018-08-05 Published:2018-08-05

摘要/Abstract

摘要： 并联机构型综合是机构学和机器人领域的一个极具挑战性难题。为解决一般型综合方法得到的并联机构具有强运动学耦合性的问题，提出一种无耦合二自由度转动并联机构型综合的系统方法。基于驱动力螺旋理论建立无耦合转动并联机构的输入-输出运动间的数学模型；分析转动并联机构的运动输出特性与分支主动副通过运动链施加到动平台上的驱动力螺旋之间的内在关系；按照雅可比矩阵为对角阵的条件确定出分支驱动力螺旋和主动运动螺旋的形式，再根据驱动力螺旋与同一分支中除主动运动螺旋外的其他运动螺旋互易积恒等于零的特性确定出非主动运动螺旋；建立分支运动链型综合的准则，实现了具有预期自由度类型的并联机构型综合。运动学分析表明，所综合出的机构雅可比矩阵均为对角阵，机构的输入和输出运动之间呈现线性映射关系，验证了所提出的型综合方法的正确性。尤其是当第一条分支的主动运动螺旋为零节距螺旋时，在满足一定结构条件下雅可比矩阵为单位阵，机构在整个工作间内表现为完全各向同性。

关键词: 并联机构, 驱动力螺旋, 无耦合, 型综合, 自由度

Abstract: A new systematic method for type synthesis of uncoupled rotational parallel mechanisms with two degrees of freedom is presented in order to deal with the strong kinematic coupling of mechanisms obtained by the general method. Based on the actuation wrench screw theory, the mathematic model mapping the inputs and the outputs relationship of the uncoupled rotational parallel manipulators is set up. The relationship between the output motion characteristic of the rotational parallel mechanism and the actuation wrench screws exerted on the moving platform by the actuated joints is also analyzed. The forms of the actuation wrench screws and the corresponding actuated twist screws of the kinematic chains are determined in terms of the condition that the Jacobian matrix of the mechanism is diagonal. Then all possible forms of the non-actuated twist screws are confirmed according to the principle that the actuation wrench screw is reciprocal to all twist screws within a chain except for the actuated one. The steps of structural synthesis for the kinematic chains are put forward and the type synthesis of the parallel mechanisms with the expected mobility is realized successfully. Kinematics analysis of the mechanisms synthesized shows that their Jacobian is a diagonal matrix and there exists the linear mapping relation between the inputs and the outputs. Therefore, it implies that the type synthesis method proposed here is correct and effective. It is worth noting that the Jacobian will be an identical matrix when the actuated twist is zero-pitch screw of the first chain and the certain structure size of the mechanisms is satisfied, which means that these mechanisms show fully-isotropic performance throughout the whole workspace.

Key words: actuation wrench screw, degree of freedom, parallel mechanism, type synthesis, uncoupled

中图分类号:

TH112
TP242

张彦斌, 荆献领, 韩建海, 郭冰菁, 赵浥夫. 无耦合二自由度转动并联机构型综合方法研究[J]. 机械工程学报, 2018, 54(15): 21-30.

ZHANG Yanbin, JING Xianling, HAN Jianhai, GUO Bingjing, ZHAO Yifu. Type Synthesis of Uncoupled Rotational Parallel Mechanisms with Two Degrees of Freedom[J]. Journal of Mechanical Engineering, 2018, 54(15): 21-30.

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无耦合二自由度转动并联机构型综合方法研究

Type Synthesis of Uncoupled Rotational Parallel Mechanisms with Two Degrees of Freedom

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