[1]朱 伟,刘晓飞,李寒冰,等.一种新型2T2R并联机构及其运动性能分析[J].常州大学学报(自然科学版),2019,31(02):44-51.[doi:10.3969/j.issn.2095-0411.2019.02.006]
　ZHU Wei,LIU Xiaofei,LI Hanbing,et al.A Novel 2T2R Parallel Mechanism and Its Kinematic Analysis[J].Journal of Changzhou University(Natural Science Edition),2019,31(02):44-51.[doi:10.3969/j.issn.2095-0411.2019.02.006]
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一种新型2T2R并联机构及其运动性能分析()
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常州大学学报(自然科学版)[ISSN:2095-0411/CN:32-1822/N]

卷:
第31卷
期数:
2019年02期
页码:
44-51
栏目:
机械制造及其自动化
出版日期:
2019-03-28

文章信息/Info

Title:
A Novel 2T2R Parallel Mechanism and Its Kinematic Analysis
文章编号:
2095-0411(2019)02-0044-08
作者:
朱 伟; 刘晓飞; 李寒冰; 沈惠平; 戴志明; 顾开荣
(常州大学 现代机构学研究中心,江苏 常州 213164)
Author(s):
ZHU Wei;  LIU Xiaofei;  LI Hanbing;  SHEN Huiping;  DAI Zhiming;  GU Kairong
(Research Center for Advanced Mechanism Theory, Changzhou University, Changzhou 213164, China)
关键词:
并联机构;  运动学;  工作空间;  奇异
Keywords:
parallel mechanism;  kinematics;  workspace;  singularity
分类号:
TH 112
DOI:
10.3969/j.issn.2095-0411.2019.02.006
文献标志码:
A
摘要:
首先提出一种2PUS-2PRU两平移两转动四自由度并联机构,根据方位特征集(POC)理论,分析了机构的拓扑结构特性,导出了机构的运动学逆解模型。运用极限边界搜索法绘制机构的工作空间三维图,分析了结构参数对工作空间的影响,为参数优化提供参考。根据运动模型求解机构的雅可比矩阵,并分析了机构的奇异位置,包括逆解奇异、正解奇异和混合奇异,同时给出部分机构奇异位置的佳姿模型。2PUS-2PRU并联机构具有精度高、转角大、工作空间连续等优点,在运动模拟器、姿态调平,特别是高精度转向装置具有较好的应用前景。
Abstract:
2PUS-2PRU parallel mechanism is introduced and designed which has 4 degree-of-freedom(DOF)motion output consisting of 2DOF translational motion and 2DOF rotational motion. In this paper, the topological structure of the mechanism is analyzed firstly according to the Position Orientation Characteristic theory(POC). Then the inverse kinematics model of the mechanism is deduced. Secondly, some workspace graphs of the mechanism are obtained by using the limit boundary searching method, which include 3-dimensional workspace graphs of the mechanism, and workspace relations between the displacement input of the sliding guides and the angular output of the moving platform. The influence of the structural parameters on the workspace is analyzed, which would provide a reference for optimization of parameters of the mechanism. Thirdly, the Jacobian matrix is deduced on the basis of the previous kinematics model, from which the singular conditions are analyzed including the singular of the inverse solutions, the singular of the positive solutions and the mixed singular. Also, some CAD models of special singular position are present. 2PUS-2PRU parallel mechanism has some advantages of higher precision, larger rotation angle, and continuous workspace. The mechanism has a good application prospects in the field of motion simulator, attitude leveling and solar tracking.

参考文献/References:


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备注/Memo

备注/Memo:
收稿日期:2018-11-30。
基金项目:国家自然科学基金资助项目(51075045); 江苏省自然科学基金资助项目(BK20161192); 江苏省大学生创新创业项目(201610292040Y)。
作者简介:朱伟(1976-),男,江苏泰兴人,博士,副教授。E-mail: zwllx@126.com
更新日期/Last Update: 2019-03-30