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基于POC方法的少自由度無過約束并聯(lián)機(jī)構(gòu)構(gòu)型綜合
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國家自然科學(xué)基金項(xiàng)目(51475050)


Structural Synthesis Based on POC Set for Lower-mobility Non-overconstrained Parallel Mechanisms
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    摘要:

    根據(jù)基于方位特征集和序單開鏈單元的并聯(lián)機(jī)構(gòu)拓?fù)浣Y(jié)構(gòu)設(shè)計(jì)理論,,提出了一種基于基本回路過約束特性的無過約束并聯(lián)機(jī)構(gòu)設(shè)計(jì)方法,。首先,分析動平臺方位特征集,、支鏈方位特征集以及基本回路獨(dú)立位移方程數(shù)三者之間的關(guān)系,,確定了少自由度無過約束并聯(lián)機(jī)構(gòu)構(gòu)型的存在條件,,給出了無過約束并聯(lián)機(jī)構(gòu)構(gòu)型綜合的方法和步驟。然后,,按照支鏈類型及其對動平臺提供的約束不同,,將無過約束并聯(lián)機(jī)構(gòu)構(gòu)型分為3類,表明通過不同類型的支鏈組合可得到不同性能的無過約束并聯(lián)機(jī)構(gòu)新構(gòu)型。最后,,通過典型實(shí)例總結(jié)無過約束并聯(lián)構(gòu)型的支鏈組成及其裝配規(guī)律,。

    Abstract:

    Based on the theory of POC and ordered single-opened-chain, a design method for structural synthesis of lower-mobility non-overconstrained parallel mechanisms (PMs) was proposed according to the over-constraint characteristics of independent loops. Firstly, the relationships between POC of mobile platform, POC of kinematic limbs and the number of independent displacement equations of independent loops were analyzed. The existence condition of lower-mobility non-overconstrained PMs was obtained, and the universal method and step for structural synthesis were further proposed. Secondly, the non-overconstrained PMs can be classified into three types of configurations according to different combinations of kinematic limbs and their corresponding constraints on the platform, which showed that the non-overconstrained PMs composed with different types of kinematic limbs had different performances. Finally, the rules of possible kinematic limbs and their assembly modes were illustrated by comparative analysis with a few examples. The research results enriched the analysis theory and methods of non-overconstrained PMs, and laied the foundation for type selection and applications of lower-mobility non-overconstrained PMs.

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朱小蓉,宋月月,沈惠平,姚欣,孫晨,楊廷力.基于POC方法的少自由度無過約束并聯(lián)機(jī)構(gòu)構(gòu)型綜合[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2016,47(8):370-377. Zhu Xiaorong, Song Yueyue, Shen Huiping, Yao Xin, Sun Chen, Yang Tingli. Structural Synthesis Based on POC Set for Lower-mobility Non-overconstrained Parallel Mechanisms[J]. Transactions of the Chinese Society for Agricultural Machinery,2016,47(8):370-377.

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  • 收稿日期:2016-01-10
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  • 在線發(fā)布日期: 2016-08-10
  • 出版日期: 2016-08-10
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