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完全解耦二移動(dòng)二轉(zhuǎn)動(dòng)并聯(lián)機(jī)構(gòu)結(jié)構(gòu)綜合
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國(guó)家自然科學(xué)基金資助項(xiàng)目(50905055),、河南省高校青年骨干教師資助項(xiàng)目(2010GGJS-079)和河南科技大學(xué)博士啟動(dòng)科研基金資助項(xiàng)目


Structural Synthesis of Fully-decoupled Two-translational and Two-rotational Parallel Mechanisms
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    摘要:

    基于混聯(lián)機(jī)構(gòu)概念和互易螺旋理論提出了完全解耦二維移動(dòng)二維轉(zhuǎn)動(dòng)（2T2R）并聯(lián)機(jī)構(gòu)結(jié)構(gòu)綜合的方法,，得到106種機(jī)構(gòu),。綜合出的機(jī)構(gòu)有兩條分支運(yùn)動(dòng)鏈直接與動(dòng)平臺(tái)和靜平臺(tái)相連，其中一條為單開(kāi)鏈,，另一條為混合鏈。所有機(jī)構(gòu)速度雅可比矩陣均為對(duì)角陣,，即動(dòng)平臺(tái)的輸出速度與4個(gè)主動(dòng)副的輸入速度之間存在一一對(duì)應(yīng)的映射關(guān)系,，故此類(lèi)機(jī)構(gòu)運(yùn)動(dòng)學(xué)解完全解耦，克服了一般并聯(lián)機(jī)構(gòu)耦合性強(qiáng),、控制復(fù)雜的弱點(diǎn),。

    Abstract:

    Based on the concept of hybrid mechanism and reciprocal screw theory, a method of structural synthesis of fully-decoupled two-translational and two-rotational (2T2R) parallel mechanisms was proposed and 106 parallel mechanisms were obtained. All mechanisms synthesyzed in this paper consisted of two limbs which were connected with the moving platform and the fixed base. One limb was a single open kinematic chain and another was a hybrid chain. Jacobian matrix of each mechanism was diagonal and there existed a one-to-one mapping relationship between the output velocity of platform and input of actuated joints. Therefore, these parallel mechanisms were fully-decoupled on kinematic solutions, which could avoid some drawbacks of the general paprallel mechanisms in terms of high coupling and complicated control design.

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張彥斌,吳鑫.完全解耦二移動(dòng)二轉(zhuǎn)動(dòng)并聯(lián)機(jī)構(gòu)結(jié)構(gòu)綜合[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2013,44(8):250-256. Zhang Yanbin, Wu Xin. Structural Synthesis of Fully-decoupled Two-translational and Two-rotational Parallel Mechanisms[J]. Transactions of the Chinese Society for Agricultural Machinery,2013,44(8):250-256.

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  • 在線發(fā)布日期: 2013-07-19
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