| 董飞， 许勇， 王艳， 赵传森， 张强强.具备大转动能力的2-PUR-PSPR并联机构[J].轻工机械,2020,38(1):55-56 |
| 具备大转动能力的2-PUR-PSPR并联机构 |
| R Parallel Mechanism with Large Rotation Capacity |
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| DOI：10.3969/j.issn.1005 2895.2020.01.010 |
| 中文关键词: 并联机构 螺旋理论 大姿态转动 位置逆解模型 边界搜索算法 |
| 英文关键词:parallel mechanism helix theory large attitude rotation inverse position solution model boundary search algorithm |
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| 中文摘要: |
| 针对目前复杂曲面工件加工时，需要加工设备具备大转动能力的需求，课题组提出了一种新型的RXRYTYTZ 4自由度2 [ZZ（Z]P[ZZ）]UR [ZZ（Z]P[ZZ）]S[ZZ（Z]P[ZZ）]R并联机构。机构同时采用移动外副和内副驱动，通过相互平行的大行程移动外副的驱动方向变换，辅以移动内副伸缩驱动的调节作用，控制动平台的运动。课题组基于螺旋理论和修正的Kutabach Grübler公式，计算并验证了该机构的自由度；由机构闭环矢量方程建立位置逆解模型，并借助定杆长等约束条件，获得了该机构位置逆解解析式；基于边界搜索算法，应用MATLAB软件，求解出动平台Y轴方向位移恒定时机构的RXRYTYTZ工作空间。在SolidWorks软件中进行仿真分析，结果表明：该机构具有工作空间范围大，动平台转角范围大，运行稳定等优点。课题组的研究可为大姿态转动能力机构设计提供一定参考。 |
| 英文摘要: |
| In order to meet the requirement of large rotational capability of processing equipment for complex surface workpieces, a new type of RXRYTYTZ four degrees of freedom 2 [ZZ（Z]P[ZZ）]UR [ZZ（Z]P[ZZ）]S[ZZ（Z]P[ZZ）]R parallel mechanism was proposed by research group. The mechanism adopted both mobile external and internal drive, and controlled the motion of the moving platform by means of driving direction transformation of the parallel large stroke mobile external pair, supplemented by the adjusting function of the telescopic drive of the mobile internal pair. Based on the helix theory and the modified Kutabach Grübler formula, the degree of freedom of the mechanism was calculated and verified. The inverse position solution model of the mechanism was established from the closed loop vector equation, and the analytic formula of the inverse position solution of the mechanism was obtained by means of the constraints of fixed rod length. Based on the boundary search algorithm, the RXRYTYTZ workspace of the mechanism with constant Y axis displacement of the moving platform was solved by using the software of matlab. The simulation analysis was carried out by the software of Solidworks, the results show that the mechanism has the advantages of large workspace range, large turning angle range of the moving platform, stable operation and so on. The research provides some reference for the design of mechanism with large attitude rotation ability. |
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