摘要
移动和转动混合运动的并联机构具有很高的研究和应用价值。基于转移混合输出运动的机构适用范围广,但该类机构的设计比较困难。为了研发和推广转移混合运动的1T2R并联机构,基于平面五杆机构和一条无约束支链,设计了一种一平移两转动(1T2R)的并联机构。首先,根据方位特征(POC)方程对机构进行了拓扑结构分析,并计算了该机构的自由度;然后,对该并联机构进行了运动学建模,推导了其位置正反解的解析表达式,并基于雅可比矩阵分析了机构的奇异性,利用三维离散搜索法计算了机构的工作空间,给出了机构在工作空间中的灵巧度分布情况;最后,利用粒子群算法(PSO)对机构的工作空间和灵巧度进行了双重优化,同时探讨了无约束支链的布置角φ对机构工作空间和灵巧度的影响。研究结果表明:所设计的1T2R并联机构结构简单,具有位置解析解;优化后的机构的工作空间和灵巧度分别提升了93.47%,203.42%;当无约束支链的驱动方向与平面(2P-3R)机构垂直布置时,能够获得更好的运动性能。该结果为3-DOF 1T2R机构的实际应用奠定了理论基础。
The parallel mechanism with the mixed motion of moving and rotating has high research and application value.The mechanism based on transfer mixed output motion has a wide range of applications,but the design of this kind of mechanism is difficult.In order to develop and popularize the parallel mechanism,a parallel mechanism with one translation and two rotations(1T2R)was designed based on a planar five-bar mechanism and an unconstrained branch chain.Firstly,the topological structure of the parallel mechanism was analyzed according to the position and orientation characteristic(POC)equation,and the degree of freedom(DOF)of the parallel mechanism was calculated.Then,the kinematics of the parallel mechanism was modeled,and the analytic expression of the forward and inverse position solutions was derived.The singularity of the parallel mechanism was analyzed based on Jacobian matrix.The workspace of the parallel mechanism was calculated by using three-dimensional discrete search method,and the dexterity distribution of the parallel mechanism in the workspace was given.Finally,particle swarm optimization(PSO)was used to optimize the workspace and dexterity of the parallel mechanism,and the influence of unconstrained branch chain layout angleφon the workspace and dexterity of the parallel mechanism was discussed.The research results show that,the designed 1T2R parallel mechanism has simple structure and position analytical solution.The workspace and dexterity of the optimized parallel mechanism are respectively improved by 93.47%and 203.42%.When the driving direction of the unconstrained branch chain is vertically arranged with the planar(2P-3R)mechanism,better motion performance can be obtained.The result lays a theoretical foundation for the practical application of the 3-DOF 1T2R mechanism.
作者
李兴瑞
龙有强
姜峰
LI Xingrui;LONG Youqiang;JIANG Feng(Department of Mechanical and Electrical Engineering,Hebi Vocational College of Energy and Chemistry,Hebi 458000,China;Department of Mechanical and Electrical Engineering,Beihai Vocational College,Beihai 536000,China;School of Mechanical and Automotive Engineering,Guangxi University of Science and Technology,Liuzhou 545616,China)
出处
《机电工程》
CAS
北大核心
2024年第10期1806-1815,共10页
Journal of Mechanical & Electrical Engineering
基金
广西北部湾经济区发展专项资金(重大人才)资助项目(21DYF0015)。
关键词
五杆机构
自由度验算
并联机构
运动学位置分析
奇异性分析
工作空间
灵巧度分析
机构尺度综合优化
five-bar mechanism
degree of freedom(DOF)calculation
parallel mechanism
kinematic position analysis
singularity analysis
workspace
dexterity analysis
mechanism scale comprehensive optimization
