含有恰约束分支的无耦合两转动并联机构型综合

doi:10.3969/j.issn.1004-132X.2022.01.006

中国机械工程 ›› 2022, Vol. 33 ›› Issue (01): 54-61.DOI: 10.3969/j.issn.1004-132X.2022.01.006

含有恰约束分支的无耦合两转动并联机构型综合

张彦斌1,2;王科明1;芦风林1;魏雪敏1;王科峰1

1.河南科技大学机电工程学院，洛阳，471003
2.机械装备先进制造河南省协同创新中心，洛阳，471003

出版日期:2022-01-10 发布日期:2022-01-19
通讯作者: 王科明（通信作者），男，1994 年生，硕士研究生。研究方向为并联机构设计和康复机器人。获中国专利4项。发表论文2篇。E-mail：wkmhkd@163.com。
作者简介:张彦斌，男，1974 年生，教授、博士研究生导师。研究方向为机构学与并联机器人理论、康复机器人技术。发表论文60余篇，获授权发明专利13项。E-mail：yanbin_zh@163.com。
基金资助:
河南省科技攻关计划（192102210221）；
河南省高等学校重点科研项目基础研究计划（18A460001）

Type Synthesis of Uncoupled Two-rotational Parallel Mechanism with One Pure Constraint Branch

ZHANG Yanbin1,2;WANG Keming1;LU Fenglin1;WEI Xuemin1;WANG Kefeng1

1.School of Mechatronics Engineering,Henan University of Science and Technology,Luoyang,Henan,471003
2.Center of Machinery Equipment Advanced Manufacturing of Henan Province,Luoyang,Henan,471003

Online:2022-01-10 Published:2022-01-19

摘要/Abstract

摘要： 为提高解耦并联机构的刚度和承载能力，基于分支驱动力螺旋理论提出一种含有恰约束分支的无耦合两转动并联机构型综合系统方法。分析了无耦合两转动并联机构的运动解耦性与分支驱动力之间的关系，确定了分支驱动力螺旋的作用形式；研究了机构输入输出运动之间的映射关系，根据机构雅可比矩阵为对角阵的特点，确定了主动分支的驱动力螺旋和主动运动螺旋的具体形式，给出了非主动运动螺旋的确定方法，完成了主动分支的构型综合。最后实现了含有恰约束分支无耦合两转动并联机构的型综合，得到多种新机型。

关键词: 型综合, 并联机构, 恰约束分支, 无耦合, 驱动力螺旋

Abstract: In order to improve stiffness and loading capability of decoupled parallel mechanisms, a systemic method of type synthesis for the uncoupled two-rotational parallel mechanism with one pure constraint branch was proposed based on branch actuation wrench screw theory. The relationship between motion decoupling and branch actuation wrench of the uncoupled two-rotational parallel mechanism was analyzed, and the action forms of the branch actuation wrench screws were determined. Mapping relationship between input and output motions of the parallel mechanism was studied. According to the characteristic of Jacobian matrix which was a diagonal one, real forms of the actuation wrench screws and actuated twist screws of driving branches were derived. The law determining the non-actuated twist screws was established. As a result, structural synthesis of the driving branches was completed. Finally, type synthesis of the uncoupled two-rotational parallel mechanism with one pure constraint branches was realized and some new parallel mechanisms were obtained.

Key words: type synthesis, parallel mechanism, pure constraint branch, uncoupled, actuation wrench screw

中图分类号:

TH112
TP242

张彦斌, 王科明, 芦风林, 魏雪敏, 王科峰. 含有恰约束分支的无耦合两转动并联机构型综合[J]. 中国机械工程, 2022, 33(01): 54-61.

ZHANG Yanbin, WANG Keming, LU Fenglin, WEI Xuemin, WANG Kefeng. Type Synthesis of Uncoupled Two-rotational Parallel Mechanism with One Pure Constraint Branch[J]. China Mechanical Engineering, 2022, 33(01): 54-61.

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含有恰约束分支的无耦合两转动并联机构型综合

Type Synthesis of Uncoupled Two-rotational Parallel Mechanism with One Pure Constraint Branch

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