摘要
基于子运动链生成子工作空间和基于叠加原理的并联机构拓扑设计方法,设计一种具有符号位置正解且运动解耦的纯三平移并联机构,并对该机构进行拓扑分析;运用基于拓扑特征的机构位置分析方法求解该机构位置正逆解并进行验算;基于SKC单元的奇异分析方法对该并联机构的奇异位形进行分析,并求解该并联机构规则无奇异的长方体工作空间。研究结果为一类具有规则工作空间并联机构的设计提供了理论基础。
According to the topology design method of parallel mechanism based on sub-kinematic-chain generating sub-workspace and its superposition principle,a pure three-translation parallel mechanism with symbolic positive solution and motion decoupling was designed.Through the topology structural analysis of the mechanism,it was found that the mechanism was composed of two sub-kinematic-chains,and the coupling degree of the mechanism was 0.Then,using the mechanism position analysis method based on topological characteristics,the forward and inverse position solutions of the mechanism were solved and verified.And it was found that the mechanism had the characteristics of partial motion decoupling and symbolic positive solution.Finally,the singular configuration of the parallel mechanism was analyzed by using the singular analysis method based on the sub-kinematic-chain element,and the regular and non-singular rectangular workspace of the parallel mechanism was solved.Using this singularity analysis method,all singular configurations in the sub-kinematic-chain can be found,and it was conducive to solving the regular workspace without singularity.The research result can provide a theoretical basis and specific method for the design of a class of parallel mechanisms with regular workspace,and it played a guiding role in the design of three-translation parallel mechanism based on the superposition principle of sub-workspace generated by sub-kinematic-chain,and provided an idea and method for singularity and workspace analysis of complex parallel mechanism with multiple sub-kinematic-chains.
作者
李菊
朱忠颀
沈惠平
赵一楠
吴广磊
LI Ju;ZHU Zhongqi;SHEN Huiping;ZHAO Yinan;WU Guanglei(Research Center for Advanced Mechanism Theory,Changzhou University,Changzhou 213164,China;School of Mechanical Engineering,Dalian University of Technology,Dalian 116024,China)
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2022年第9期425-433,442,共10页
Transactions of the Chinese Society for Agricultural Machinery
基金
国家自然科学基金项目(51975062、51378062)
关键词
并联机构
拓扑设计
奇异性
工作空间
parallel mechanism
topology design
singularity
working space
