摘要
提出两种3-RPS并联机构,其分支运动链均由一个转动副R、一个弧形移动副P和一个球铰S构成。第一种并联机构的驱动副轴线共线,第二种的驱动副轴线相互平行。运用螺旋理论,对这两种并联机构的自由度、位置反解、传动效率系数进行分析。第一种并联机构动平台的转动中心为弧形连杆的中心,动平台绕Z轴的旋转相对其他两个方向的旋转具有解耦性;第二种并联机构动平台的转动中心是各支链球铰中心与弧形连杆中心连线的3条直线的交点,此交点随动平台的位姿变化而变化;此外,它们的传递效率系数与支链球铰的移动方向有密切关系。
Two types of 3-RPS parallel mechanisms were proposed, its limb kinematic chain consisted of an arc prismatic pair P, a revolute pair R, and a spherical joint S. The axes of drive pairs of those mechanisms were collinear, parallel, respectively. Mobility, kinematics and transmission efficiency coefficients of these two types of parallel mechanisms were analyzed via screw theory. The rotational center of moving platform of the first parallel mechanism was the center of arc rod, and moving platform rotated around the Z -axis with respect to the other two directions was decoupled. In the second parallel mechanism, the rotational center of moving platform was an intersection point of three straight lines, which passed through each center of arc rod and the center of spherical joint, and this intersection point changed with the posture of the moving platform. In addition, the transmission efficiency coefficient of these two types of parallel mechanisms related to the movement direction of spherical joint of limb kinematic chains.
作者
王永奉
范顺成
张小俊
路光达
杨静
WANG Yongfeng;FAN Shuncheng;ZHANG Xiaojun;LU Guangda;YANG Jing(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300401,China;School of Electrical Engineering and Automation,Tianjin University of Technology and Education,Tianjin 300222,China;Handan College,Handan Hebei 056001,China)
出处
《机床与液压》
北大核心
2018年第21期1-6,共6页
Machine Tool & Hydraulics
基金
国家自然科学基金资助项目(61503119)
天津市高等学校科技发展基金计划项目(20140714)
关键词
并联机构
螺旋理论
自由度
传动性能
Parallel mechanism
Screw theory
Mobility
Transmission efficiency coefficient
