一种3T1R并联机构设计及运动学性能分析

中国机械工程

一种3T1R并联机构设计及运动学性能分析

朱伟;顾开荣;王传伟;刘晓飞

常州大学机械工程学院,常州,213164

出版日期:2018-01-10 发布日期:2018-01-04
基金资助:
国家自然科学基金资助项目(51475050，51375062)；
江苏省自然科学基金资助项目(BK20161192)
National Natural Science Foundation of China （No. 51475050，51375062）
Jiangsu Provincial Natural Science Foundation of China （No. BK20161192）

Design and Kinematics Performance Analysis of a 3T1R Parallel Mechanism

ZHU Wei;GU Kairong;WANG Chuanwei;LIU Xiaofei

College of Mechanical Engineering，Changzhou University，Changzhou，Jiangsu,213164

Online:2018-01-10 Published:2018-01-04
Supported by:
National Natural Science Foundation of China （No. 51475050，51375062）
Jiangsu Provincial Natural Science Foundation of China （No. BK20161192）

摘要/Abstract

摘要： 设计了一种能实现三维移动和一维转动的4自由度并联机构。分析了机构的拓扑结构及自由度特征。建立了机构位置正反解数学模型，并采用二维搜索法进行数值验证。分析了机构的工作空间、雅可比矩阵以及机构的奇异位形特征。设计了SPS和RRR两种冗余驱动支链，结果表明RRR冗余支链可在保持机构工作空间不变的前提下，有效消除机构的内部正解奇异。

关键词: 并联机构, 工作空间, 奇异位置, 冗余驱动

Abstract: A 4 degree of freedom (DOF) parallel mechanism was designed which consisted of a 3-DOF translational motions and a 1-DOF rotational motions about a fixed axis (3T1R). Firstly, the characteristics of topological structure were analyzed in the light of the position and orientation characteristics theory (POC). Secondly, the mathematical model of the forward solution and inverse solution of the mechanism was presented, and was verified on numerical values by way of two-dimensional searching. Then, the workspace analysis, Jacobian matrix modelling and singularity analysis were performed. In addition, two kinds of additional active limb were designed to cope with the singularity problem. The results show that the additional RRR active limb may effectively eliminate the internal forward singularity, and the workspace being kept.

Key words: parallel mechanism, workspace, singularity, redundant actuation

中图分类号:

TH112

朱伟;顾开荣;王传伟;刘晓飞. 一种3T1R并联机构设计及运动学性能分析[J]. 中国机械工程.

ZHU Wei;GU Kairong;WANG Chuanwei;LIU Xiaofei. Design and Kinematics Performance Analysis of a 3T1R Parallel Mechanism[J]. China Mechanical Engineering.

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