摘要
采用基于方位特征(POC)和有序单开链(SOC)的并联机构拓扑结构设计理论与方法,对Omni-Wrist III、PS+PRS+PSS、3-RRR球面、2-SPS+1-RPR,以及实现Schoenflies运动的3种3T1R机构(H4、4-R∥R∥R⊥R∥R、X4改进型)等7种具有较好实用价值的典型并联机构进行了拓扑结构具体分析,给出了它们的POC集、自由度、耦合度3个主要拓扑结构特征,这些特征反映了这些机构拓扑结构、运动学及动力学的基本性能,为其拓扑结构优化、运动学与动力学研究,以及设计和应用提供了理论基础;揭示了一些有利于并联机构设计和应用参考的共性规律。
Development and practical application for practical parallel mechanisms still have a long way to go,the reason is that the topological structure characteristics of the mechanisms are to be revealed.The purpose of topological structure characteristics analysis is to provide criteria for optimization and performance assessment of parallel mechanisms. Using topology structure theory for parallel mechanism based on position and orientation characteristics（ POC） and the ordered single-open-chain（ SOC）,the topology characteristics of six practical and useful parallel mechanisms were analyzed,and three main topological structure characteristics,including the POC set,degree of freedom（ DOF） and coupling degree were uncovered. Analysis for topological structure characteristics was an effective method to reveal the structure composition and the topological structure characteristics of mechanisms. The best structural decomposition route can be achieved with the concept of ＂coupling degree＂,the complexity caused for forward kinematic analysis of the mechanisms can be reduced and the forward position solutions of mechanisms can be analyzed efficiently. These characteristics reflected the basic performance of the topological structure, kinematics and dynamics of these mechanisms, which provided theoretical foundation for the optimization of topological structure,kinematics and dynamics as well as application.Topological structural analysis of practical parallel mechanisms can provide comparable schemes for innovative mechanism designs. This work also revealed some general rules which can be beneficial to the design and application for any other parallel mechanisms.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2016年第8期388-398,共11页
Transactions of the Chinese Society for Agricultural Machinery
基金
国家自然基金项目(51375062、51405039、51405050)
江苏省重点研发计划项目(BE2015043)
关键词
并联机构
POC方法
有序单开链
拓扑结构分析
拓扑特征
parallel mechanism
position and orientation characteristics method
single-open-chain
topological structure analysis
topological characteristics
