摘要
具有部分运动解耦的冗余并联机构对其后继的重构、控制与运动学分析等十分有利。本文首先基于机构拓扑结构学的设计理论与方法,设计了两种六自由度并联机构的拓扑结构,并对其进行了拓扑特性分析;接着,推导出了它们的位置正解表达式;最后,结合机构的冗余性质,在保持自由度不变的情况下,运用一种可转换主、从运动的移动副,重构出其它6种六自由度并联机构构型。以上方法所使用的机构拓扑结构符号直观清晰、数学方法简单、意义明确,适用于六自由度并联机构的拓扑结构设计,并进一步为可重构并联机构的设计提供了理论基础。
The redundant parallel mechanism with partial motion decoupling is very beneficial to the subsequent reconstruction,control and kinematic analysis.In this paper,Firstly,based on the design theory and method of mechanism topology structure,two kinds of topology structures of 6-DOF(degrees of freedom)parallel mechanism are designed and their topology characteristics are analyzed.Then,the expression of positive solutions to their positions is derived.Finally,combining with the redundant nature of the mechanism,other 6-DOF parallel mechanism configurations are reconstructed by using a movable pair that can be converted into a master and slave motion without changing the degree of freedom.The topology symbol of the mechanism used in the above method is intuitive and clear,the mathematical method is simple,and the meaning is clear.It is suitable for the topology design of the 6-DOF parallel mechanism,and further provides a theoretical basis for the design of the reconfigurable parallel mechanism.
作者
徐帅
尤晶晶
沈惠平
仇鑫
王林康
叶鹏达
XU Shuai;YOU Jingjing;SHEN Huiping;QIU Xin;WANG Linkang;YE Pengda(College of Mechanical and Electronic Engineering,Nanjing 210037,China;Jiangsu Key Laboratory of Precision and Micro-Manufacturing Technology,Nanjing 210016,China;School of Mechanical Engineering,Changzhou University,Changzhou Jiangsu 213016,China)
出处
《机械设计与研究》
CSCD
北大核心
2020年第6期44-48,53,共6页
Machine Design And Research
基金
国家自然科学基金(51405237)
国家留学基金(201908320035)资助项目
江苏省精密与微细制造技术重点实验室开放基金资助项目。
关键词
并联机构
重构
方位特征集
拓扑构型
耦合度
parallel mechanism
reconfigurable
position and orientation characteristic
topology structure
coupling degree
