| 施利涛， 张海峰， 叶伟*.3轨式横向对称分布6 PSS并联机构及性能优化[J].轻工机械,2024,42(1):43-49 |
| 3轨式横向对称分布6 PSS并联机构及性能优化 |
| Performance Optimization of Three Rail Horizontally Symmetric Distributed 6 PSS Parallel Mechanism |
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| DOI：10.3969/j.issn.1005 2895.2024.01.007 |
| 中文关键词: 并联机构 螺旋理论 闭环矢量法 极限边界搜索法 工作空间 全局传递性能指标 |
| 英文关键词:parallel robot screw theory closed loop vector method limit boundary search method workspace GTI（Global Transmission Index） |
| 基金项目:国家自然科学基金资助项目(51935010)。 |
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| 中文摘要: |
| 针对多滑块共轨式6 PSS并联机构存在的姿态工作空间小、容易奇异等问题，课题组提出一种3轨式分布的6 PSS并联机构（P为移动副，S为球副）。该并联机构杆件长度和轨道间距呈不均匀布置，以提升姿态工作空间；采用闭环矢量法进行位置分析，通过极限边界搜索法求解工作空间；基于运动/力传递指标对机构性能进行评估，并采用性能图谱法基于全域指标GTI进行机构尺寸优化。结果表明优化后机构运动/力传递性能有显著提升，同时姿态工作空间也得到提升。该机构在工程上有一定的实用性。 |
| 英文摘要: |
| Addressing the issues of small orientation workspace and easy singularity in the multi slider common rail 6 PSS parallel mechanism, a three rail distributed 6 PSS parallel mechanism (P: prismatic joint, S: spherical joint) was proposed. The uneven arrangement of link lengths and rail spacing was adopted to enhance the orientation workspace. Closed loop vector method was used for position analysis, and the limit boundary search method was used to solve the workspace. The mechanism performance was evaluated based on motion/force transmission indices, and the performance graph was used to optimize the mechanism size based on the global index GTI. The results show that the motion/force transmission performance of the optimized mechanism is significantly improved, and the orientation workspace is also improved. This mechanism has certain practical application in engineering. |
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