基于广义基本运动链正则解耦混联机构的型综合
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摘要
混联机构兼具串联机构与并联机构各自的构型优势,是先进复杂机械装备的重要备选构型之一。依据机构输出运动特征进行位姿分离,通过移动特征正则输出平台模块,与姿态特征正则转动输出的运动副模块串联,构建广义基本运动链。结合正则运动的解耦特征,提出了运动链的正则解耦设计方法。以此为据,建立混联机构的解耦综合。以3T2R混联机构为对象进行了实例综合。研究表明:基于广义基本运动链的正则解耦设计方法可操作性强,对混联机构的解耦设计具有普适性。
Hybrid mechanism is one of important alternative configurations of advanced complex mechanical equipment,which intergrates the configuration advantage of serial mechanism and parallel mechanism. The motion characteristics are decomposed according to the output characteristics of orientation and position. The general basic kinematic chain is established through serial the canonical translation platform module with the module of rotational kinematic pair. Combining the decoupling characteristics of canonical configuration,the decoupling synthesis of the hybrid mechanism is established. The 3 T2 R hybrid mechanism is conducted as an example. The results show that the canonical decoupling design method based on generalized basic kinematic chain is simple and effective,Which is a universaly method for decoupling hybrid mechanism design.
Hybrid mechanism is one of important alternative configurations of advanced complex mechanical equipment,which intergrates the configuration advantage of serial mechanism and parallel mechanism. The motion characteristics are decomposed according to the output characteristics of orientation and position. The general basic kinematic chain is established through serial the canonical translation platform module with the module of rotational kinematic pair. Combining the decoupling characteristics of canonical configuration,the decoupling synthesis of the hybrid mechanism is established. The 3 T2 R hybrid mechanism is conducted as an example. The results show that the canonical decoupling design method based on generalized basic kinematic chain is simple and effective,Which is a universaly method for decoupling hybrid mechanism design.
引文
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[2]GOGU G.T2R1-type parallel manipulators with bifurcated planarspatial motion[J].European Journal of Mechanics A/Solids,2012,33:1-11.
[3]QU S W,LI R Q,BAI S P.Type synthesis of 2T1R decoupled parallel mechanisms based on Lie Groups and Screw Theory[J].Mathematical Problems in Engineering,2017(1):1-11.
[4]屈淑维,李瑞琴.一种三自由度并联解耦机构的型综合[J].机械设计与研究,2017,33(1):31-34.
[5]秦友蕾,曹毅,陈海,等.两移动三转动完全解耦混联机器人机构型综合[J].西安交通大学学报,2016,50(1):92-99.
[6]沈惠平,朱小蓉,尹洪波,等.并联机构的结构降耦原理及其设计方法[J].机械工程学报,2016,52(23):102-113.
[7]曾达幸,胡志涛,侯雨雷,等.一种新型并联式解耦踝关节康复机构及其优化[J].机械工程学报,2015,51(9):1-9.
[8]JIN X D,FANG Y F,QU H B,et al.A class of novel 2T2R and3T2R parallel mechanisms with large decoupled output rotational angles[J].Mechanism and Machine Theory,2017,114:156-169.
[9]戴建生.旋量代数与李群、李代数[M].北京:高等教育出版社,2014.
[10]于靖军,刘辛军,丁希仑,等.机器人机构学的数学基础[M].北京:机械工业出版社,2006.
[11]曾达幸,王华明,樊明洲,等.3自由度转动广义解耦并联机构构型综合[J].机械工程学报,2017,53(3):17-24.
[12]ALTUZARRA.O,LOIZAGA.M,PINTO C,et al.Synthesis of partially decoupled muiti-level manipulators with lower mobility[J].Mechanism and Machine Theory,2010,45(5):106-118.
[13]郭令,郭为忠,高峰.支链末端特征的轴线迁移定理与应用[J].机械工程学报,2015,51(7):24-29.