一种新型低耦合度非全对称三平移一转动并联机械手及其运动学分析

摘要/Abstract

摘要： 根据基于方位特征（POC）方程的并联机构拓扑设计理论和方法，分析了一种可实现三平移一转动输出运动的新型低耦合度的非全对称四自由度并联机械手2-RPaRSS，并完成其运动学建模与分析。首先，分析计算出该机构的耦合度(κ=1)，给出了基于序单开链（SOC）的机构位置正解的建模方法及其数值解；其次，通过导出机构位置反解及算例，验证了正反解求解的正确性；再次，分析了该机构位置工作空间的形状大小及工作空间Z向各截面形状；然后，对机构的奇异位形进行了分析，得到其发生三类奇异的条件；最后，设计了该机械手样机的三维CAD模型。研究结果表明，2-RPaRSS机械手比H4、I4R、Cross-Ⅳ结构简单，且具有更大的工作空间和更好的动平台转动能力。

关键词: 非全对称并联机构, 方位特征方程, 耦合度, 三平移一转动, 正向位置

Abstract: By using topological structure synthesis theory and method based on POC equation，a novel 4-DOF 3T1R not-fully-symmetrical PM 2-RPaRSS with low coupling degrees was presented.Firstly，the coupling degree of the PM was calculated(κ=1).The modeling method and the numerical solutions for forward position kinematics of the PM were established based on ordered single-open-chain (SOC) units. Then the correctness of the forward solutions was verified by the inverse solutions and a numerical example. Furthermore，the total shape and size as well as Z-section shape of the workspace of the PM were analyzed. Further，the singularity of the PM was also analyzed，and three kinds of singular conditions were obtained. Lastly，the 3D model for the prototype of the manipulator was designed. This work shows that 2-RPaRSS manipulator is simple in structure and the workspace and the rotation ability of moving platform of the PM is larger than that of H4, I4R and Cross-Ⅳ.

Key words: not-fully-symmetrical parallel manipulator(PM)；position and orientation characteristic(POC) equation；coupling degree；three-translation and one rotation(3T1R), forward position solution

中图分类号:

TP273

沈惠平;邵国为;邓嘉鸣;孟庆梅;杨廷力. 一种新型低耦合度非全对称三平移一转动并联机械手及其运动学分析[J]. 中国机械工程.

SHEN Huiping;SHAO Guowei;DENG Jiaming;MENG Qingmei;YANG Tingli. A Novel Not-fully Symmetrical 3T1R PM with Low Coupling-degrees and Its Kinematics[J]. China Mechanical Engineering.

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