| 梁怡璇， 叶伟.含闭环子链的2转2移并联机构[J].轻工机械,2025,43(4):27-36 |
| 含闭环子链的2转2移并联机构 |
| 2T2R Parallel Mechanism with Closed Loop Subchains |
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| DOI：10.3969/j.issn.1005 2895.2025.04.004 |
| 中文关键词: 并联机构 闭环子链 奇异分析 闭环矢量法 全域运动性能 运动/力传递性能 |
| 英文关键词:parallel mechanism closed loop subchain singularity analysis closed vector method global motion performance motion/force transmission performance |
| 基金项目:浙江省自然科学基金（ZCLZ24E0501）。 |
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| 中文摘要: |
| 为了实现并联机构的高精度、高负载和高动态性能，笔者提出一种含闭环子链的2转2移(2T2R)并联机构。使用螺旋理论公式对机构进行自由度分析，实现了空间内的2T2R运动；通过闭环矢量法建立机构的位置逆解模型，基于逆解模型对机构进行运动学分析，通过速度分析得到雅可比矩阵，基于雅可比矩阵进行奇异分析；采用数值搜索法对机构的工作空间进行了分析；根据虚功原理建立机构的动力学模型，进行动力学分析；根据全域运动/力传递性能指标对机构进行尺度优化；搭建了样机，进行样机的运动学试验。研究结果表明该机构在尺度优化后可以有效提高全域运动/力传递性能。 |
| 英文摘要: |
| In order to achieve high precision, high load and high dynamic performance of parallel mechanisms, the author proposed a 2T2R parallel mechanism with closed loop subchains. The freedom degrees of the mechanism were analyzed by using the screw theory formula, and 2 translation and the 2 rotation movements in space were realized. The position inverse solution model of the mechanism was established by using the closed vector method. Based on the inverse solution model, the kinematics of the mechanism was analyzed. The Jacobian matrix was obtained by velocity analysis, and singularity analysis was carried out based on the Jacobian matrix. The workspace of the mechanism was analyzed by using the numerical search method. According to the virtual work principle, the dynamic model of the mechanism was established and the dynamics was analyzed. The mechanism was scaled optimized according to the global motion/force transmission performance indicators. A prototype was built and the kinematic experiment of the prototype was carried out. The research shows that the mechanism can effectively improve the global motion/force transmission performance after scale optimization. |
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