| 王艳， 许勇， 董飞， 张强强， 赵传森.含运动分岔闭链的多运动模式并联机构[J].轻工机械,2020,38(2):24-30 |
| 含运动分岔闭链的多运动模式并联机构 |
| Multi Mode Parallel Mechanism with Kinematically Bifurcated Closed Chains |
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| DOI：10.3969/j.issn.1005 2895.2020.02.005 |
| 中文关键词: 并联机构 运动分岔 闭链 螺旋理论 |
| 英文关键词:parallel mechanism bifurcation motion closed chain spiral theory |
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| 摘要点击次数: 735 |
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| 中文摘要: |
| 为了探究变自由度可伸展机构、多轴联动多面加工机床和多步态灵活移动装置等新兴可重构装备的执行机构设计问题，课题组设计了含运动分岔闭链的多运动模式并联机构。并基于螺旋理论对分岔闭链、含分岔闭链的混联支链及并联机构的多种自由度进行研究。课题组提出了一种URRC(万向节 转动副 转动副 圆柱副)构型的运动分岔闭链，该闭链处于奇异位形时有2自由度瞬时运动，一般位形时有单自由度整体空间连续转动或单自由度平面连续运动。进一步，将URRC运动分岔闭链与5自由度RRS(转动副 转动副 球面副)开链串联，得到了一种具备5自由度和6自由度2种独立运动模式的混联支链。最终，将3条对称布置的URRC RRS混联支链组装为运动分岔并联机构，该并联机构具有3转3移、3转2移、3转1移和2转1移4种运动模式。 |
| 英文摘要: |
| In order to investigate the actuator design problem of the stretchable mechanism for variable degrees of freedom, multi axis linkage machine tool and gait flexible emerging reconfigurable equipment, the movement bifurcation closed chain pattern parallel mechanism was designed. Based on spiral theory, the multiple degrees of freedom of bifurcation closed chain and mixed branched chain with bifurcation closed chain and parallel mechanism were analyzed. A kind of bifurcation motion closed chain of URRC (universal joint rotating pair rotating pair cylinder pair) configuration was proposed. The closed chain being in the singular configuration, there was instantaneous motion with 2 degrees of freedom, and in the general configuration, there was continuous rotation of the entire space with a single degree of freedom or continuous motion with a single degree of freedom plane. Further, the URRC bifurcation closed chain was connected to the open chain of 5 degrees of freedom RRS (rotating pair rotating pair spherical pair), and a hybrid branch chain with two independent motion modes of 5 degrees of freedom and 6 degrees of freedom was obtained. Finally, three symmetrically arranged URRC RRS mixed branch chains were assembled into a motion bifurcation parallel mechanism, which has four motion modes of three rotation and three translation, three rotation and two translation, three rotation and one translation, and two rotation and one translation. |
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