一种无伴随运动的对称两转一移并联机构
发布时间：2018-09-18 21:43
【摘要】：提出一种新型3-UPU对称并联机构,其动、定平台始终关于中间平面对称,该机构具有两个转动自由度和一个移动自由度。运用螺旋理论对机构的自由度性质及运动特性进行分析,证明该机构动平台可以绕对称平面内的任意一条轴线或任意点发生连续转动,说明该机构不存在"伴随运动",这为机构的求解及控制提供了很大的便利。同时,该机构还具有一个沿对称面法线方向的移动自由度,动平台沿该自由度方向也可以发生连续的移动。针对此机构的结构特点,用两个角度参数就可以方便、直观地表示出动平台的姿态信息。推导该并联机构的位置正、反解,并分析其工作空间,可以看出该机构的正反解都具有解析解,且表达式较为简单,方便后续的深入研究。该机构具有较大的工作空间,能够满足一般的工作需要。
[Abstract]:A new type of 3-UPU symmetric parallel mechanism is proposed, which has two rotational degrees of freedom and one moving degree of freedom. The degree of freedom and motion characteristics of the mechanism are analyzed by using the helical theory. It is proved that the moving platform of the mechanism can rotate continuously around any axis or any point in the symmetric plane. It is shown that there is no "accompanying motion" in the mechanism, which provides great convenience for the solution and control of the mechanism. At the same time, the mechanism also has a moving degree of freedom along the normal direction of the symmetric plane, and the moving platform can also move continuously along the direction of the freedom of freedom. According to the structural characteristics of the mechanism, it is convenient and intuitively to express the attitude information of the platform with two angle parameters. The forward and inverse solutions of the parallel mechanism are deduced, and its workspace is analyzed. It can be seen that the forward and inverse solutions of the mechanism have analytical solutions, and the expression is relatively simple, which is convenient for further study. The organization has a large workspace, can meet the general needs of the work.
【作者单位】： 燕山大学河北省并联机器人与机电系统实验室;燕山大学机械工程学院;
【基金】：国家自然科学基金(51305381) 高等学校博士学科点专项科研基金联合资助课题新教师类(20131333120006)资助项目
【分类号】：TH112
本文编号：2249169
[Abstract]:A new type of 3-UPU symmetric parallel mechanism is proposed, which has two rotational degrees of freedom and one moving degree of freedom. The degree of freedom and motion characteristics of the mechanism are analyzed by using the helical theory. It is proved that the moving platform of the mechanism can rotate continuously around any axis or any point in the symmetric plane. It is shown that there is no "accompanying motion" in the mechanism, which provides great convenience for the solution and control of the mechanism. At the same time, the mechanism also has a moving degree of freedom along the normal direction of the symmetric plane, and the moving platform can also move continuously along the direction of the freedom of freedom. According to the structural characteristics of the mechanism, it is convenient and intuitively to express the attitude information of the platform with two angle parameters. The forward and inverse solutions of the parallel mechanism are deduced, and its workspace is analyzed. It can be seen that the forward and inverse solutions of the mechanism have analytical solutions, and the expression is relatively simple, which is convenient for further study. The organization has a large workspace, can meet the general needs of the work.
【作者单位】： 燕山大学河北省并联机器人与机电系统实验室;燕山大学机械工程学院;
【基金】：国家自然科学基金(51305381) 高等学校博士学科点专项科研基金联合资助课题新教师类(20131333120006)资助项目
【分类号】：TH112
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