中国机械工程 ›› 2011, Vol. 22 ›› Issue (19): 2307-2311.

• 机械基础工程 • 上一篇    下一篇

一种新型3-RPR并联机构及其运动学分析

刘延斌;韩秀英;郭志佳;贾新杰
  

  1. 河南科技大学,洛阳,471003
  • 出版日期:2011-10-10 发布日期:2011-10-12

Structure and Kinematics Analysis of a Novel 3-RPR Parallel Mechanism

Liu Yanbin;Han Xiuying;Guo Zhijia;Jia Xinjie
  

  1. Henan University of Science and Technology, Luoyang,Henan, 471003
  • Online:2011-10-10 Published:2011-10-12

摘要:

提出了一种能实现沿Y、Z轴平移和绕X轴转动的3-RPR型三自由度并联机构,运用螺旋理论分析了该并联机构实现二维平移和一维转动的机构学原理,计算了机构自由度,进行了驱动输入选取与论证,并进行了奇异分析,提出了减少奇异的参数设计条件,运用多体系统运动学理论建立了运动学模型,研究了运动学正反求解,并进行了数值仿真验证,最后分析了机构的工作空间。该并联机构是一种支链完全相同的半对称并联机构,结构较为简单,是对2T1R并联机构的重要补充,可应用于工业装配机器人、姿态调节器、并联机床、工作台等领域。

关键词:

Abstract:

A novel 3-RPR parallel mechanism was proposed, that can realize two-dimensional translations along Y,Z-axis and rotation about X-axis. Based on screw theory, the principles in accordance with which the parallel mechanism realized the above 3-DOF motions were analyzed, the mobility of the parallel mechanism was calculated, and the drive input joints were chosen and discussed, the motion singularity was analyzed and the parameter design conditions were presented to decrease motion singularity. By means of multi-body system kinematics theory, the kinematics equations of the parallel mechanism were set up, the forward and inverse position kinematics solutions were discussed and validated using numerical simulation. Finally, the workspace of the parallel mechanism was analyzed. The 3-RPR parallel mechanism replenishes 2T1R parallel mechanism family, whose three branches are uniform, and structure is semi-symmetric and simpler, and the parallel mechanism can be applied in the fields of industrial assembly robots, posture adjusters, parallel machine tools, work platforms.

Key words:

中图分类号: