Kinematics and Transmission Performance Analyses of Parallel Hybrid Drive Mechanisms

doi:10.3969/j.issn.1004-132X.2025.08.008

Abstract

Abstract:

To expand the application scopes of parallel mechanisms， a 3-RPRR （PRRRP） RS parallel mechanism that might achieve high-medium-low frequency hybrid driving was proposed， and the input rationality was analyzed based on screw theory. A set of pose solution models that might achieve hybrid driving were obtained through the driving locking method， and a motion description of the hybrid driving unit was established based on the generalized screw. The first-order influence coefficient matrix of the mechanisms was derived， and a set of numerical examples were used to achieve mutual verification between theory and simulation. The global transmission performance indicators of the mechanisms under hybrid driving were elucidated， and size optimization was carried out based on genetic algorithm. The results show that the global transmission performance of the mechanisms under low-frequency， medium frequency， and high-frequency driving was improved by 11.78%， 9.94%， and 9.44% respectively.

Key words: high-medium-low frequency hybrid drive, parallel mechanism, screw theory, generalized screw, global transmission performance

摘要：

为拓展并联机构的应用范围，提出了一种可实现高-中-低频混合驱动的3-RPRR（PRRRP）RS并联机构，基于旋量理论分析了其输入合理性。通过驱动锁定方法得到了一组可实现混合驱动的位姿解模型，基于广义旋量建立混合驱动单元的运动描述，进而推导出机构的一阶影响系数矩阵，再用一组数值算例进行理论和仿真的相互验证。阐明了机构在混合驱动下的全域传递性能指标，基于遗传算法进行了尺寸优化，结果表明，机构在低频、中频和高频驱动下的全域传递性能分别提高了11.78%、9.94%、9.44%。

关键词: 高-中-低频混合驱动, 并联机构, 旋量理论, 广义运动旋量, 全域传递性能

CLC Number:

TP182

Xingyu ZHAO, Tieshi ZHAO, Bo XU, Xiangquan LIU, Yufei QIN. Kinematics and Transmission Performance Analyses of Parallel Hybrid Drive Mechanisms[J]. China Mechanical Engineering, 2025, 36(8): 1728-1739.

赵星宇, 赵铁石, 许博, 刘相权, 秦宇飞. 并联式混合驱动机构运动学和传递性能分析[J]. 中国机械工程, 2025, 36(8): 1728-1739.

Figures/Tables 25

Fig.1 Four driving types

Fig.2 Comparison of driving velocity of different driving types

Fig.3 Comparison of driving force of different driving types

Fig.4 High-medium-low frequency hybrid driving unit

Tab.1 Configuration selection

混合驱动单元构型	承载性能	所占空间
RPRR（PRRRP）型	较好	较小
RPRR（PRRPR）型	较差	较小
PRRR（PRRRP）型	好	大
RPRR（RPRPR）型	差	小

Fig.5 3-RPRR（PRRRP）RS parallel hybrid drive mechanism

Fig.6 Structure diagram of branch i

Fig.7 Flow chart of iterative method

Tab.2 The structure parameters

参数	数值
R	1700
r	650
h	1400
l_CD	750
l_BC	250
l_CE	100
l_EH	600
l_FH	400
l_GF	515
$l H i 0$	1275
$l G i 0$	710
$l B i 0$	1000
$z H i A$	20
$z G i A$	80

Tab.2 The structure parameters

参数	数值
R	1700
r	650
h	1400
l_CD	750
l_BC	250
l_CE	100
l_EH	600
l_FH	400
l_GF	515
$l H i 0$	1275
$l G i 0$	710
$l B i 0$	1000
$z H i A$	20
$z G i A$	80

Fig.8 Low frequency driving displacement ΔlBi

Fig.9 Medium frequency driving displacement ΔlGi

Fig.10 High frequency driving displacement ΔlHi

Fig.11 Low frequency driving velocity ΔvBi

Fig.12 Medium frequency driving velocity ΔvGi

Fig.13 High frequency driving velocity ΔvHi

Tab.3 The optimized structure parameters

参数	初始值	优化值
l_CD	750	767
l_BC	250	234
l_CE	100	103
l_EH	600	591
l_FH	400	404
l_GF	515	519

Tab.4 Comparison of ςlB、ςlG and ςlH

性能指标	初始值	优化值	优化幅度/%
$ς l B$	0.8033	0.8979	11.78
$ς l G$	0.7928	0.8716	9.94
$ς l H$	0.7999	0.8754	9.44

Tab.4 Comparison of ςlB、ςlG and ςlH

性能指标	初始值	优化值	优化幅度/%
$ς l B$	0.8033	0.8979	11.78
$ς l G$	0.7928	0.8716	9.94
$ς l H$	0.7999	0.8754	9.44

Fig.14 Low frequency drive performance map before optimization

Fig.15 Low frequency drive performance map after optimization

Fig.16 Medium frequency drive performance map before optimization

Fig.17 Medium frequency drive performance map after optimization

Fig.18 High frequency drive performance map before optimization

Fig.19 High frequency drive performance map after optimization

Fig.20 Optimized mechanism simulation model

Fig.21 Optimized driving velocity

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