Effect of Constrained or Unconstrained Branches on Kinematics and Stiffness Performance of PMs —Design，Analysis and Optimization of Two Novel Three-translation PMs with Partial Motion Decoupling Being Examples#br#

doi:10.3969/j.issn.1004-132X.2023.13.003

Abstract

Abstract: Two novel three-translation PMs of two branch chains with zero coupling-degree and partial motion decoupling were designed. They contained the same branch Ⅰ as a mixed branch， while branch Ⅱ was a constrained branch or an unconstrained branch respectively. Firstly， the main topological characteristics of the two mechanisms were analyzed， and their topological analytical expressions were given. Secondly， the forward and inverse position solutions， singularity， velocity and acceleration of the moving platforms， and workspaces of the two mechanisms were solved in turn. Then， the stiffness was calculated and analyzed. Finally， the comparative analyses of the kinematics and stiffness performance of the two PMs show that the PM 1 with the constraint branch chain has the advantages of large working space and good stiffness performance， which is the preferred PM. Meanwhile， the conceptual design of the application scenario of the PM 1 for the transmission， sorting and transfer of workpiece materials between trucks and yards or warehouses was given.

Key words: parallel mechanism（PM）, topology design, kinematics, workspace, singularity, stiffness

摘要： 设计了两个零耦合度且部分运动解耦的两支链新型三平移并联机构，它们含有的相同支链Ⅰ为混合支链，而支链Ⅱ分别为约束支链和无约束支链。分析了两个机构的主要拓扑特性，并给出其拓扑解析式；对两个机构的位置正反解、奇异性、动平台的速度与加速度以及工作空间依次求解；进行了刚度计算与分析。最后，比较分析两个机构的运动学与刚度性能，结果表明含约束支链的机构1具有工作空间较大、刚度性能好等优势，为优选机型；给出了机构1用于工件物料在货车与堆场或仓库之间的分拣及转送应用场景的概念设计。

关键词: 并联机构, 拓扑设计, 运动学, 工作空间, 奇异性, 刚度

CLC Number:

TH112

SHEN Huiping, LI XiaLI Ju, LI Tao, MENG Qingmei, WU Guanglei. Effect of Constrained or Unconstrained Branches on Kinematics and Stiffness Performance of PMs —Design，Analysis and Optimization of Two Novel Three-translation PMs with Partial Motion Decoupling Being Examples#br#[J]. China Mechanical Engineering, 2023, 34(13): 1533-1549.

沈惠平, 李霞, 李菊, 李涛, 孟庆梅, 吴广磊. 约束支链或无约束支链对并联机构运动学与刚度性能的影响——以两个部分运动解耦的新型三平移并联机构的设计、分析及其优选为例[J]. 中国机械工程, 2023, 34(13): 1533-1549.

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