| 张强强， 许勇， 赵传森， 王艳， 董飞.3支链6自由度并联机构运动学研究[J].轻工机械,2020,38(3):8-14 |
| 3支链6自由度并联机构运动学研究 |
| Kinematics Study of Six DOF Parallel Mechanism with Three Branches |
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| DOI：10.3969/j.issn.1005 2895.2020.03.002 |
| 中文关键词: 并联机构 螺旋理论 自由度 位置逆解 工作空间 |
| 英文关键词:parallel mechanism spiral theory degree of freedom inverse position solution workspace |
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| 中文摘要: |
| 为了使并联机构在三维空间完成3个转动和3个移动的动作，可以进行全方位的运动，课题组提出了6自由度2PPRS RPRS并联机构。课题组描述了该并联机构的构型，建立了机构的运动坐标系；利用螺旋理论求解了机构自由度，并运用修正Kutzbach Grüble公式验证了自由度求解的正确性；根据支链与定、动平台间的相对姿态关系，推导了支链平面方程，并结合杆长不变条件，推导获得了该6自由度并联机构全部位置逆解的解析解；并基于三维边界搜索法，求解绘制出了机构的可达位置工作空间；最后，通过SolidWorks/Simmechanics的三维运动/参数可视化联合仿真，得到了机构的驱动位移相对时间的变化曲线。研究结果表明该机构构型设计、自由度分析正确，得出了该机构在三维空间内的运动学输入、输出的变化规律。 |
| 英文摘要: |
| In order to enable the parallel mechanism to complete three rotations and three movements in three dimensional space and carry out all round motion, a 6 DOF 2PPRS RPRS parallel mechanism was proposed by the research group. Firstly, the configuration of the parallel mechanism was described and the kinematic coordinate system of the mechanism was established; the degree of freedom of the mechanism was solved by the spiral theory, and the correctness of the solution was verified by the modified Kutzbach Grüble formula. According to the relative attitude relation between the branch chain and the fixed and moving platform, the plane equation of the branch chain was deduced, and the analytical solution of all the inverse solutions of the 6 DOF parallel mechanism was obtained by combining the condition of the bar length invariability. Furthermore, based on the three dimensional boundary search method, the reachable position workspace of the mechanism was solved and mapped. Finally, through SolidWorks/Simmechanics 3D movement/parameter visualization joint simulation, the change curve of driving displacement relative to time was obtained. The research results show that the structure design and DOF analysis of the mechanism are correct, and the kinematic input and output change rules of the mechanism in three dimensional space are obtained. |
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