[1]王一熙,沈惠平,孟庆梅,等.一种新型单输入3T1R输出并联机构设计及其运动学分析[J].常州大学学报(自然科学版),2020,32(03):53-62.[doi:10.3969/j.issn.2095-0411.2020.03.008]
　WANG Yixi,SHEN Huiping,MENG Qingmei,et al.Design and Kinematics Analysis of a Novel 3T1R Parallel Mechanism with Single Degree of Freedom[J].Journal of Changzhou University(Natural Science Edition),2020,32(03):53-62.[doi:10.3969/j.issn.2095-0411.2020.03.008]
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一种新型单输入3T1R输出并联机构设计及其运动学分析()
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常州大学学报(自然科学版)[ISSN:2095-0411/CN:32-1822/N]

卷:
第32卷
期数:
2020年03期
页码:
53-62
栏目:
机械制造及其自动化
出版日期:
2020-05-28

文章信息/Info

Title:
Design and Kinematics Analysis of a Novel 3T1R Parallel Mechanism with Single Degree of Freedom
文章编号:
2095-0411(2020)03-0053-10
作者:
王一熙;  沈惠平;  孟庆梅;  邓嘉鸣
(常州大学 现代机构学研究中心,江苏 常州 213164)
Author(s):
WANG Yixi;  SHEN Huiping;  MENG Qingmei;  DENG Jiaming
(Research Center for Advanced Mechanism Theory, Changzhou University, Changzhou 213164, China)
关键词:
单自由度;  少输入-多维输出;  运动学;  雅可比矩阵
Keywords:
single input;  fewer inputs and more outputs;  kinematics;  jacobian matrix
分类号:
TK 8
DOI:
10.3969/j.issn.2095-0411.2020.03.008
文献标志码:
A
摘要:
少输入-多输出(Fi-Mo)并联机构具有较好的应用前景,但其研究、设计与应用还较少。首先提出一种新型的单输入3T1R输出并联机构,并对该机构的方位特征(POC)集、自由度(DOF)及耦合度(κ)等主要拓扑特征进行分析计算,证明其耦合度κ=1; 然后,根据基于有序单开链法的运动学建模原理,给出了该机构的位置正解的求解方法; 同时,导出机构位置逆解方程,得到其雅可比矩阵,并进一步导出了动平台输出速度和加速度计算公式。最后,设计了用于三平移一转动振动筛分装置的主机构的虚拟样机。
Abstract:
The Fewer-input and More output(Fi-Mo)parallel mechanism(PM)has potential applications. However its investigation and application are fewer. This paper proposes a novel Fi-Mo PM with a single input and outputs of three-translation and one-rotation(3T1R). An analysis for main topological characteristics of the PM is also performed, including position orientation characteristics(POC), degree of freedom(DOF)and Coupling Degree(κ), which proves its coupling degree κ is one. Then, according to the kinematics modeling principle based on ordered single opened chain(SOC),proposed in author's early work, the solving methods for the forward position problem of the PM are given. At the same time, the inverse position solution equations are derived, and Jacobian matrix is obtained through the constraint relation of the PM. In addition, the output velocity and acceleration calculation formula are obtained that is verified by a numerical example. Last, a prototype of parallel vibration screen based on this 1-DOF 3T1R Fi-Mo PM is designed and illustrated. This work lays a theoretical foundation for the design and application of the PM.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2019-10-13。
基金项目:国家自然科学基金资助项目(51375062,514755050)。
作者简介:王一熙(1993—),男,江苏常州人,硕士生。通信联系人:沈惠平(1965—),E-mail:shp65@126.com
引用本文:王一熙,沈惠平,孟庆梅,等. 一种新型单输入3T1R输出并联机构设计及其运动学分析[J]. 常州大学学报(自然科学版),2020,32(3):53-62.
更新日期/Last Update: 2020-06-11